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Transmissibility and Compliance comp IFF/DVF/OL

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Thomas Dehaeze
2020-02-27 14:23:09 +01:00
parent 1321d12e4d
commit c1ca4b3b78
18 changed files with 1663 additions and 783 deletions
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@@ -4,7 +4,7 @@
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<head>
<!-- 2020-02-13 jeu. 15:47 -->
<!-- 2020-02-27 jeu. 14:16 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Stewart Platform - Simscape Model</title>
@@ -201,50 +201,28 @@
<script src="./js/jquery.stickytableheaders.min.js"></script>
<script src="./js/readtheorg.js"></script>
<script type="text/javascript">
/*
@licstart The following is the entire license notice for the
JavaScript code in this tag.
Copyright (C) 2012-2020 Free Software Foundation, Inc.
The JavaScript code in this tag is free software: you can
redistribute it and/or modify it under the terms of the GNU
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Foundation, either version 3 of the License, or (at your option)
any later version. The code is distributed WITHOUT ANY WARRANTY;
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FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
As additional permission under GNU GPL version 3 section 7, you
may distribute non-source (e.g., minimized or compacted) forms of
that code without the copy of the GNU GPL normally required by
section 4, provided you include this license notice and a URL
through which recipients can access the Corresponding Source.
@licend The above is the entire license notice
for the JavaScript code in this tag.
*/
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@@ -281,18 +259,19 @@ for the JavaScript code in this tag.
<ul>
<li><a href="#org3535b6d">6.1. Payload</a>
<ul>
<li><a href="#org706f994">Function description</a></li>
<li><a href="#orgb15b49f">Optional Parameters</a></li>
<li><a href="#orge7f39a8">Function description</a></li>
<li><a href="#orgb83df72">Optional Parameters</a></li>
<li><a href="#orgeeb8d35">Add Payload Type</a></li>
<li><a href="#org6d52ffc">Add Stiffness, Damping and Mass properties of the Payload</a></li>
</ul>
</li>
<li><a href="#orgaaed406">6.2. Ground</a>
<ul>
<li><a href="#orge7f39a8">Function description</a></li>
<li><a href="#orgb83df72">Optional Parameters</a></li>
<li><a href="#org5d402b9">Function description</a></li>
<li><a href="#orgc0da5ca">Optional Parameters</a></li>
<li><a href="#orgef7035d">Add Ground Type</a></li>
<li><a href="#org95633e8">Add Stiffness and Damping properties of the Ground</a></li>
<li><a href="#org14ff2fc">Rotation Point</a></li>
</ul>
</li>
</ul>
@@ -525,9 +504,9 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
</p>
</div>
<div id="outline-container-org706f994" class="outline-4">
<h4 id="org706f994">Function description</h4>
<div class="outline-text-4" id="text-org706f994">
<div id="outline-container-orge7f39a8" class="outline-4">
<h4 id="orge7f39a8">Function description</h4>
<div class="outline-text-4" id="text-orge7f39a8">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[payload]</span> = <span class="org-function-name">initializePayload</span>(<span class="org-variable-name">args</span>)
<span class="org-comment">% initializePayload - Initialize the Payload that can then be used for simulations and analysis</span>
@@ -536,7 +515,7 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
<span class="org-comment">%</span>
<span class="org-comment">% Inputs:</span>
<span class="org-comment">% - args - Structure with the following fields:</span>
<span class="org-comment">% - type - 'none', 'solid', 'flexible', 'cartesian'</span>
<span class="org-comment">% - type - 'none', 'rigid', 'flexible', 'cartesian'</span>
<span class="org-comment">% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
<span class="org-comment">% This also the position where K and C are defined</span>
<span class="org-comment">% - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
@@ -546,7 +525,7 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
<span class="org-comment">%</span>
<span class="org-comment">% Outputs:</span>
<span class="org-comment">% - payload - Struture with the following properties:</span>
<span class="org-comment">% - type - 1 (none), 2 (solid), 3 (flexible)</span>
<span class="org-comment">% - type - 1 (none), 2 (rigid), 3 (flexible)</span>
<span class="org-comment">% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
<span class="org-comment">% - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
<span class="org-comment">% - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]</span>
@@ -557,12 +536,12 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
</div>
</div>
<div id="outline-container-orgb15b49f" class="outline-4">
<h4 id="orgb15b49f">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgb15b49f">
<div id="outline-container-orgb83df72" class="outline-4">
<h4 id="orgb83df72">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgb83df72">
<div class="org-src-container">
<pre class="src src-matlab">arguments
args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'solid'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'cartesian'</span>})} = <span class="org-string">'none'</span>
args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'cartesian'</span>})} = <span class="org-string">'none'</span>
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(6,1)
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(6,1)
args.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e<span class="org-type">-</span>3
@@ -581,7 +560,7 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
<span class="org-keyword">case</span> <span class="org-string">'none'</span>
payload.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'solid'</span>
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
payload.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
payload.type = 3;
@@ -621,9 +600,9 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
</p>
</div>
<div id="outline-container-orge7f39a8" class="outline-4">
<h4 id="orge7f39a8">Function description</h4>
<div class="outline-text-4" id="text-orge7f39a8">
<div id="outline-container-org5d402b9" class="outline-4">
<h4 id="org5d402b9">Function description</h4>
<div class="outline-text-4" id="text-org5d402b9">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[ground]</span> = <span class="org-function-name">initializeGround</span>(<span class="org-variable-name">args</span>)
<span class="org-comment">% initializeGround - Initialize the Ground that can then be used for simulations and analysis</span>
@@ -633,12 +612,13 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<span class="org-comment">% Inputs:</span>
<span class="org-comment">% - args - Structure with the following fields:</span>
<span class="org-comment">% - type - 'none', 'solid', 'flexible'</span>
<span class="org-comment">% - rot_point [3x1] - Rotation point for the ground motion [m]</span>
<span class="org-comment">% - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
<span class="org-comment">% - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
<span class="org-comment">%</span>
<span class="org-comment">% Outputs:</span>
<span class="org-comment">% - ground - Struture with the following properties:</span>
<span class="org-comment">% - type - 1 (none), 2 (solid), 3 (flexible)</span>
<span class="org-comment">% - type - 1 (none), 2 (rigid), 3 (flexible)</span>
<span class="org-comment">% - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
<span class="org-comment">% - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
</pre>
@@ -646,12 +626,13 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
</div>
</div>
<div id="outline-container-orgb83df72" class="outline-4">
<h4 id="orgb83df72">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgb83df72">
<div id="outline-container-orgc0da5ca" class="outline-4">
<h4 id="orgc0da5ca">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgc0da5ca">
<div class="org-src-container">
<pre class="src src-matlab">arguments
args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'solid'</span>, <span class="org-string">'flexible'</span>})} = <span class="org-string">'none'</span>
args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>})} = <span class="org-string">'none'</span>
args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1)
args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(3,1)
args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(3,1)
<span class="org-keyword">end</span>
@@ -667,7 +648,7 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
<span class="org-keyword">case</span> <span class="org-string">'none'</span>
ground.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'solid'</span>
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
ground.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
ground.type = 3;
@@ -687,12 +668,22 @@ ground.C = args.C;
</div>
</div>
</div>
<div id="outline-container-org14ff2fc" class="outline-4">
<h4 id="org14ff2fc">Rotation Point</h4>
<div class="outline-text-4" id="text-org14ff2fc">
<div class="org-src-container">
<pre class="src src-matlab">ground.rot_point = args.rot_point;
</pre>
</div>
</div>
</div>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-13 jeu. 15:47</p>
<p class="date">Created: 2020-02-27 jeu. 14:16</p>
</div>
</body>
</html>