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[Done] Partition Stewart struct - Variant Simscape

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This commit is contained in:
Thomas Dehaeze
2020-02-11 15:16:07 +01:00
parent 2231aa53ce
commit e1cd9b0aa8
30 changed files with 2326 additions and 1211 deletions
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46
src/initializeAmplifiedStrutDynamics.m
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@@ -5,35 +5,39 @@ function [stewart] = initializeAmplifiedStrutDynamics(stewart, args)
%
% Inputs:
% - args - Structure with the following fields:
% - Ksi [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m]
% - Csi [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
% - Kdi [6x1] - Vertical stiffness when the piezoelectric stack is removed [N/m]
% - Cdi [6x1] - Vertical damping when the piezoelectric stack is removed [N/(m/s)]
% - Ka [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m]
% - Ca [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
% - Kr [6x1] - Vertical (residual) stiffness when the piezoelectric stack is removed [N/m]
% - Cr [6x1] - Vertical (residual) damping when the piezoelectric stack is removed [N/(m/s)]
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
% - Ki [6x1] - Total Stiffness of each strut [N/m]
% - Ci [6x1] - Total Damping of each strut [N/(m/s)]
% - Ksi [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m]
% - Csi [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
% - Kdi [6x1] - Vertical stiffness when the piezoelectric stack is removed [N/m]
% - Cdi [6x1] - Vertical damping when the piezoelectric stack is removed [N/(m/s)]
% - actuators.type = 2
% - actuators.K [6x1] - Total Stiffness of each strut [N/m]
% - actuators.C [6x1] - Total Damping of each strut [N/(m/s)]
% - actuators.Ka [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m]
% - actuators.Ca [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
% - actuators.Kr [6x1] - Vertical stiffness when the piezoelectric stack is removed [N/m]
% - actuators.Cr [6x1] - Vertical damping when the piezoelectric stack is removed [N/(m/s)]
arguments
stewart
args.Kdi (6,1) double {mustBeNumeric, mustBeNonnegative} = 5e6*ones(6,1)
args.Cdi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Ksi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15e6*ones(6,1)
args.Csi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Kr (6,1) double {mustBeNumeric, mustBeNonnegative} = 5e6*ones(6,1)
args.Cr (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Ka (6,1) double {mustBeNumeric, mustBeNonnegative} = 15e6*ones(6,1)
args.Ca (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
end
stewart.Ksi = args.Ksi;
stewart.Csi = args.Csi;
K = args.Ka + args.Kr;
C = args.Ca + args.Cr;
stewart.Kdi = args.Kdi;
stewart.Cdi = args.Cdi;
stewart.actuators.type = 2;
stewart.Ki = args.Ksi + args.Kdi;
stewart.Ci = args.Csi + args.Cdi;
stewart.actuators.Ka = args.Ka;
stewart.actuators.Ca = args.Ca;
stewart.actuator_type = 2;
stewart.actuators.Kr = args.Kr;
stewart.actuators.Cr = args.Cr;
stewart.actuators.K = K;
stewart.actuators.C = K;