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Active Damping Rework for new simscape model

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Thomas Dehaeze
2020-02-13 14:50:30 +01:00
parent becb9b7758
commit ec58979f2c
2 changed files with 89 additions and 56 deletions
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org/active-damping.org
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@@ -66,7 +66,7 @@ The following decentralized active damping techniques are briefly studied:
#+end_src
#+begin_src matlab
open('simulink/stewart_active_damping.slx')
open('stewart_platform_model.slx')
#+end_src
** Identification of the Dynamics
@@ -84,18 +84,23 @@ The following decentralized active damping techniques are briefly studied:
stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
#+end_src
#+begin_src matlab
ground = initializeGround('type', 'none');
payload = initializePayload('type', 'none');
#+end_src
#+begin_src matlab
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'stewart_active_damping';
mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
io(io_i) = linio([mdl, '/Vm'], 1, 'openoutput'); io_i = io_i + 1; % Absolute velocity of each leg [m/s]
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', [], 'Vm'); io_i = io_i + 1; % Absolute velocity of each leg [m/s]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -284,7 +289,7 @@ The root locus is shown in figure [[fig:root_locus_inertial_rot_stiffness]].
#+end_src
#+begin_src matlab
open('simulink/stewart_active_damping.slx')
open('stewart_platform_model.slx')
#+end_src
** Identification of the Dynamics with perfect Joints
@@ -303,6 +308,11 @@ We first initialize the Stewart platform without joint stiffness.
stewart = initializeInertialSensor(stewart, 'type', 'none');
#+end_src
#+begin_src matlab
ground = initializeGround('type', 'none');
payload = initializePayload('type', 'none');
#+end_src
And we identify the dynamics from force actuators to force sensors.
#+begin_src matlab
%% Options for Linearized
@@ -310,12 +320,12 @@ And we identify the dynamics from force actuators to force sensors.
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'stewart_active_damping';
mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
io(io_i) = linio([mdl, '/Fm'], 1, 'openoutput'); io_i = io_i + 1; % Force Sensor Outputs [N]
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', [], 'Taum'); io_i = io_i + 1; % Force Sensor Outputs [N]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -542,7 +552,7 @@ The root locus is shown in figure [[fig:root_locus_iff_rot_stiffness]] and the o
#+end_src
#+begin_src matlab
open('simulink/stewart_active_damping.slx')
open('stewart_platform_model.slx')
#+end_src
** Identification of the Dynamics with perfect Joints
@@ -561,6 +571,11 @@ We first initialize the Stewart platform without joint stiffness.
stewart = initializeInertialSensor(stewart, 'type', 'none');
#+end_src
#+begin_src matlab
ground = initializeGround('type', 'none');
payload = initializePayload('type', 'none');
#+end_src
And we identify the dynamics from force actuators to force sensors.
#+begin_src matlab
%% Options for Linearized
@@ -568,12 +583,12 @@ And we identify the dynamics from force actuators to force sensors.
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'stewart_active_damping';
mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1; % Relative Displacement Outputs [N]
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);