tdehaeze/stewart-simscape
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Rework - New Simscape

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This commit is contained in:
Thomas Dehaeze
2020-02-13 14:51:49 +01:00
parent ec58979f2c
commit d904877c01
2 changed files with 25 additions and 10 deletions
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org/control-study.org
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@@ -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);