Cleaning of the files. Add script for identification with varying mass
This commit is contained in:
parent
ea06e05f34
commit
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@ -1,3 +1,6 @@
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%% Script Description
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%
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figure;
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figure;
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plot(d_meas.Time, d.Data-d_meas.Data)
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plot(d_meas.Time, d.Data-d_meas.Data)
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@ -11,17 +11,17 @@ initializeNanoHexapod();
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%%
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%%
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initializeSample(struct('mass', 0));
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initializeSample(struct('mass', 0));
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G_cart_0 = getPlantCart();
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G_cart_0 = identifyPlantCart();
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%%
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%%
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initializeSample(struct('mass', 10));
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initializeSample(struct('mass', 10));
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G_cart_10 = getPlantCart();
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G_cart_10 = identifyPlantCart();
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%%
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%%
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initializeSample(struct('mass', 50));
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initializeSample(struct('mass', 50));
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G_cart_50 = getPlantCart();
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G_cart_50 = identifyPlantCart();
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%%
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%%
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freqs = logspace(1, 4, 1000);
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freqs = logspace(1, 4, 1000);
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@ -54,30 +54,3 @@ exportFig('hexapod_cart_coupling', 'normal-normal')
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%% Save identify transfer functions
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%% Save identify transfer functions
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save('./mat/G_cart.mat', 'G_cart_0', 'G_cart_10', 'G_cart_50');
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save('./mat/G_cart.mat', 'G_cart_0', 'G_cart_10', 'G_cart_50');
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%% Centralized control (Cartesian coordinates)
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% Input/Output definition
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io(1) = linio([mdl, '/F_legs'],1,'input');
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io(2) = linio([mdl, '/Stewart_Platform'],2,'output');
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% Run the linearization
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G_legs_raw = linearize(mdl,io, 0);
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G_legs = preprocessIdTf(G_legs_raw, 10, 10000);
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% Input/Output names
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G_legs.InputName = {'F1', 'F2', 'F3', 'M4', 'M5', 'M6'};
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G_legs.OutputName = {'D1', 'D2', 'D3', 'R4', 'R5', 'R6'};
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% Bode Plot of the linearized function
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freqs = logspace(2, 4, 1000);
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bodeFig({G_legs(1, 1)}, freqs, struct('phase', true))
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legend({'$F_i \rightarrow D_i$'})
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exportFig('hexapod_legs', 'normal-normal')
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bodeFig({G_legs(1, 1), G_legs(2, 1)}, freqs, struct('phase', true))
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legend({'$F_i \rightarrow D_i$', '$F_i \rightarrow D_j$'})
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exportFig('hexapod_legs_coupling', 'normal-normal')
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save('mat/G_legs.mat', 'G_legs');
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45
identification_legs.m
Normal file
45
identification_legs.m
Normal file
@ -0,0 +1,45 @@
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%% Script Description
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% Script used to identify the transfer functions of the
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% Stewart platform (from actuator to displacement)
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%%
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clear; close all; clc;
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%%
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initializeNanoHexapod();
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%%
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initializeSample(struct('mass', 0));
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G_legs_0 = identifyPlantLegs();
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%%
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initializeSample(struct('mass', 10));
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G_legs_10 = identifyPlantLegs();
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%%
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initializeSample(struct('mass', 50));
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G_legs_50 = identifyPlantLegs();
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%%
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freqs = logspace(1, 4, 1000);
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bodeFig({G_legs_0(1, 1), G_legs_10(1, 1), G_legs_50(1, 1)}, freqs, struct('phase', true))
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legend({'$F_i \rightarrow D_i$ - $M = 0Kg$', '$F_i \rightarrow D_i$ - $M = 10Kg$', '$F_i \rightarrow D_i$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('hexapod_legs_mass', 'normal-tall')
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%%
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freqs = logspace(1, 4, 1000);
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bodeFig({G_legs_0(1, 2), G_legs_10(1, 2), G_legs_50(1, 2)}, freqs, struct('phase', true))
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legend({'$F_i \rightarrow D_j$ - $M = 0Kg$', '$F_i \rightarrow D_j$ - $M = 10Kg$', '$F_i \rightarrow D_j$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('hexapod_legs_coupling_mass', 'normal-tall')
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%% Save identify transfer functions
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save('./mat/G_legs.mat', 'G_legs_0', 'G_legs_10', 'G_legs_50');
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@ -1,2 +1,6 @@
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%% Script Description
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%
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%% Load the sample and the stewart platform
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load('./mat/sample.mat', 'sample')
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load('./mat/sample.mat', 'sample')
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load('./mat/stewart.mat', 'stewart')
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load('./mat/stewart.mat', 'stewart')
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@ -1,90 +0,0 @@
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%% Stewart Object
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stewart = struct();
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stewart.h = 350; % Total height of the platform [mm]
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stewart.jacobian = 435; % Point where the Jacobian is computed => Center of rotation [mm]
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 110; % Internal Radius [mm]
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BP.rad.ext = 207.5; % External Radius [mm]
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BP.thickness = 26; % Thickness [mm]
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BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm]
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BP.leg.ang = 9.5; % Angle Offset [deg]
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BP.density = 8000; % Density of the material [kg/m^3]
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BP.color = [0.6 0.6 0.6]; % Color [rgb]
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BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
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%% Top Plate
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TP = struct();
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TP.rad.int = 82; % Internal Radius [mm]
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TP.rad.ext = 150; % Internal Radius [mm]
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TP.thickness = 26; % Thickness [mm]
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TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm]
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TP.leg.ang = 12.1; % Angle Offset [deg]
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TP.density = 8000; % Density of the material [kg/m^3]
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TP.color = [0.6 0.6 0.6]; % Color [rgb]
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TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
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%% Leg
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Leg = struct();
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Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
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Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
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Leg.ksi.ax = 3; % Maximum amplification at resonance []
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Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
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Leg.density = 8000; % Density of the material [kg/m^3]
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Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
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Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
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Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
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Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
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Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
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Leg = updateDamping(Leg);
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%% Sphere
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SP = struct();
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SP.height.bottom = 27; % [mm]
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SP.height.top = 27; % [mm]
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SP.density.bottom = 8000; % [kg/m^3]
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SP.density.top = 8000; % [kg/m^3]
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SP.color.bottom = [0.6 0.6 0.6]; % [rgb]
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SP.color.top = [0.6 0.6 0.6]; % [rgb]
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SP.k.ax = 0; % [N*m/deg]
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SP.ksi.ax = 10;
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SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
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SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
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SP.rad.bottom = Leg.sphere.bottom; % [mm]
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SP.rad.top = Leg.sphere.top; % [mm]
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SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
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SP = updateDamping(SP);
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%%
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Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
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Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
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%%
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stewart.BP = BP;
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stewart.TP = TP;
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stewart.Leg = Leg;
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stewart.SP = SP;
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%%
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stewart = initializeParameters(stewart);
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%%
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clear BP TP Leg SP;
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%%
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function element = updateDamping(element)
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field = fieldnames(element.k);
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for i = 1:length(field)
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element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
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end
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end
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@ -1,90 +0,0 @@
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%% Stewart Object
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stewart = struct();
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stewart.h = 90; % Total height of the platform [mm]
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stewart.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm]
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 0; % Internal Radius [mm]
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BP.rad.ext = 150; % External Radius [mm]
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BP.thickness = 10; % Thickness [mm]
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BP.leg.rad = 100; % Radius where the legs articulations are positionned [mm]
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BP.leg.ang = 5; % Angle Offset [deg]
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BP.density = 8000;% Density of the material [kg/m^3]
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BP.color = [0.7 0.7 0.7]; % Color [rgb]
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BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
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%% Top Plate
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TP = struct();
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TP.rad.int = 0; % Internal Radius [mm]
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TP.rad.ext = 100; % Internal Radius [mm]
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TP.thickness = 10; % Thickness [mm]
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TP.leg.rad = 90; % Radius where the legs articulations are positionned [mm]
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TP.leg.ang = 5; % Angle Offset [deg]
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TP.density = 8000;% Density of the material [kg/m^3]
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TP.color = [0.7 0.7 0.7]; % Color [rgb]
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TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
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%% Leg
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Leg = struct();
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Leg.stroke = 80e-6; % Maximum Stroke of each leg [m]
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Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
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Leg.ksi.ax = 10; % Maximum amplification at resonance []
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Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.top = 10; % Radius of the cylinder of the top part [mm]
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Leg.density = 8000; % Density of the material [kg/m^3]
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Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
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Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
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Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
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Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
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Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
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Leg = updateDamping(Leg);
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%% Sphere
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SP = struct();
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SP.height.bottom = 15; % [mm]
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SP.height.top = 15; % [mm]
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SP.density.bottom = 8000; % [kg/m^3]
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SP.density.top = 8000; % [kg/m^3]
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SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
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SP.color.top = [0.7 0.7 0.7]; % [rgb]
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SP.k.ax = 0; % [N*m/deg]
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SP.ksi.ax = 3;
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SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
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SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
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SP.rad.bottom = Leg.sphere.bottom; % [mm]
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SP.rad.top = Leg.sphere.top; % [mm]
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SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
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SP = updateDamping(SP);
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%%
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Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
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Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
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%%
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stewart.BP = BP;
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stewart.TP = TP;
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stewart.Leg = Leg;
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stewart.SP = SP;
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%%
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stewart = initializeParameters(stewart);
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%%
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clear BP TP Leg SP;
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%%
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function element = updateDamping(element)
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field = fieldnames(element.k);
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for i = 1:length(field)
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element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
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end
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end
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%%
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%% Script Description
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run stewart_parameters.m
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%
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run stewart_init.m
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%%
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%%
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[X, Y, Z] = getMaxPositions(Leg, J);
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clear; close all; clc;
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%%
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init_simulink;
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%%
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[X, Y, Z] = getMaxPositions(stewart);
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%%
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figure;
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figure;
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hold on;
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hold on;
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mesh(X, Y, Z);
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mesh(X, Y, Z);
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* Stewart Platform using Simscape
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* Stewart Platform using Simscape
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* TODO Add functions to identify transmissibility and sensitivity
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* TODO Rewrite the script to study the effect of various parameters on the stiffness/stroke/...
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* TODO Rewrite the function to study the jacobian, or delete it.
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function [X, Y, Z] = getMaxPositions(Leg, J)
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function [X, Y, Z] = getMaxPositions(stewart)
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Leg = stewart.Leg;
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J = stewart.J;
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theta = linspace(0, 2*pi, 100);
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theta = linspace(0, 2*pi, 100);
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phi = linspace(-pi/2 , pi/2, 100);
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phi = linspace(-pi/2 , pi/2, 100);
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dmax = zeros(length(theta), length(phi));
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dmax = zeros(length(theta), length(phi));
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function [G_cart, G_cart_raw] = getPlantCart()
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function [G_cart, G_cart_raw] = identifyPlantCart()
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%% Default values for opts
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%% Default values for opts
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opts = struct('f_low', 1,...
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opts = struct('f_low', 1,...
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'f_high', 10000 ...
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'f_high', 10000 ...
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35
src/identifyPlantLegs.m
Normal file
35
src/identifyPlantLegs.m
Normal file
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function [G_legs, G_legs_raw] = identifyPlantLegs()
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%% Default values for opts
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opts = struct('f_low', 1, ...
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||||||
|
'f_high', 10000 ...
|
||||||
|
);
|
||||||
|
|
||||||
|
%% Populate opts with input parameters
|
||||||
|
if exist('opts_param','var')
|
||||||
|
for opt = fieldnames(opts_param)'
|
||||||
|
opts.(opt{1}) = opts_param.(opt{1});
|
||||||
|
end
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Options for Linearized
|
||||||
|
options = linearizeOptions;
|
||||||
|
options.SampleTime = 0;
|
||||||
|
|
||||||
|
%% Name of the Simulink File
|
||||||
|
mdl = 'stewart_simscape';
|
||||||
|
|
||||||
|
%% Centralized control (Cartesian coordinates)
|
||||||
|
% Input/Output definition
|
||||||
|
io(1) = linio([mdl, '/F_legs'], 1,'input');
|
||||||
|
io(2) = linio([mdl, '/Stewart_Platform'],2,'output');
|
||||||
|
|
||||||
|
% Run the linearization
|
||||||
|
G_legs_raw = linearize(mdl,io, 0);
|
||||||
|
|
||||||
|
G_legs = preprocessIdTf(G_legs_raw, opts.f_low, opts.f_high);
|
||||||
|
|
||||||
|
% Input/Output names
|
||||||
|
G_legs.InputName = {'F1', 'F2', 'F3', 'M4', 'M5', 'M6'};
|
||||||
|
G_legs.OutputName = {'D1', 'D2', 'D3', 'R4', 'R5', 'R6'};
|
||||||
|
end
|
||||||
|
|
Binary file not shown.
@ -1,4 +1,8 @@
|
|||||||
%% TODO - rewrite this script
|
%% Script Description
|
||||||
|
%
|
||||||
|
|
||||||
|
%%
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
%%
|
%%
|
||||||
run stewart_parameters.m
|
run stewart_parameters.m
|
||||||
|
Loading…
Reference in New Issue
Block a user