diff --git a/docs/control-study.html b/docs/control-study.html index c285d38..75ebcc2 100644 --- a/docs/control-study.html +++ b/docs/control-study.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platform - Control Study @@ -301,14 +301,22 @@ for the JavaScript code in this tag. 
stewart = initializeStewartPlatform();
-stewart = initializeFramesPositions(stewart);
+stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
 stewart = initializeStrutDynamics(stewart);
+stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
 stewart = initializeCylindricalPlatforms(stewart);
 stewart = initializeCylindricalStruts(stewart);
 stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
+stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
+
+
+ +
+
ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'none');
@@ -326,12 +334,12 @@ options = linearizeOptions; options.SampleTime = 0; %% Name of the Simulink File -mdl = 'stewart_platform_control'; +mdl = 'stewart_platform_model'; %% Input/Output definition clear io; io_i = 1; -io(io_i) = linio([mdl, '/tau'], 1, 'openinput'); io_i = io_i + 1; -io(io_i) = linio([mdl, '/L'], 1, 'openoutput'); io_i = io_i + 1; +io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N] +io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m] %% Run the linearization G = linearize(mdl, io, options); @@ -382,7 +390,7 @@ Kl = Kl * eye(6);

Author: Dehaeze Thomas

-

Created: 2020-02-11 mar. 17:52

+

Created: 2020-02-13 jeu. 14:51

diff --git a/org/control-study.org b/org/control-study.org index 1b29677..df904e9 100644 --- a/org/control-study.org +++ b/org/control-study.org @@ -76,14 +76,21 @@ ** Initialize the Stewart platform #+begin_src matlab stewart = initializeStewartPlatform(); - stewart = initializeFramesPositions(stewart); + stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3); stewart = generateGeneralConfiguration(stewart); stewart = computeJointsPose(stewart); stewart = initializeStrutDynamics(stewart); + stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p'); stewart = initializeCylindricalPlatforms(stewart); stewart = initializeCylindricalStruts(stewart); stewart = computeJacobian(stewart); stewart = initializeStewartPose(stewart); + stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3); +#+end_src + +#+begin_src matlab + ground = initializeGround('type', 'none'); + payload = initializePayload('type', 'none'); #+end_src ** Identification of the plant @@ -94,12 +101,12 @@ Let's identify the transfer function from $\bm{\tau}}$ to $\bm{L}$. options.SampleTime = 0; %% Name of the Simulink File - mdl = 'stewart_platform_control'; + mdl = 'stewart_platform_model'; %% Input/Output definition clear io; io_i = 1; - io(io_i) = linio([mdl, '/tau'], 1, 'openinput'); io_i = io_i + 1; - io(io_i) = linio([mdl, '/L'], 1, 'openoutput'); io_i = io_i + 1; + io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N] + io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m] %% Run the linearization G = linearize(mdl, io, options);