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This commit is contained in:
Thomas Dehaeze
2021-01-08 15:54:58 +01:00
parent f5922ca970
commit ed0c18829b
29 changed files with 8682 additions and 8683 deletions
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29
matlab/active_damping_dvf.m
View File

@@ -23,8 +23,9 @@ stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart, 'type', 'none');
ground = initializeGround('type', 'none');
ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
payload = initializePayload('type', 'none');
controller = initializeController('type', 'open-loop');
@@ -58,8 +59,8 @@ figure;
ax1 = subplot(2, 1, 1);
hold on;
for i = 2:6
set(gca,'ColorOrderIndex',2);
plot(freqs, abs(squeeze(freqresp(G(['Dm', num2str(i)], 'F1'), freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2);
plot(freqs, abs(squeeze(freqresp(G(['Dm', num2str(i)], 'F1'), freqs, 'Hz'))));
end
set(gca,'ColorOrderIndex',1);
plot(freqs, abs(squeeze(freqresp(G('Dm1', 'F1'), freqs, 'Hz'))));
@@ -70,8 +71,8 @@ ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
ax2 = subplot(2, 1, 2);
hold on;
for i = 2:6
set(gca,'ColorOrderIndex',2);
p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Dm', num2str(i)], 'F1'), freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2);
p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Dm', num2str(i)], 'F1'), freqs, 'Hz'))));
end
set(gca,'ColorOrderIndex',1);
p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(G('Dm1', 'F1'), freqs, 'Hz'))));
@@ -156,17 +157,17 @@ plot(real(tzero(G)), imag(tzero(G)), 'o');
plot(real(tzero(Gf)), imag(tzero(Gf)), 'o');
plot(real(tzero(Ga)), imag(tzero(Gf)), 'o');
for i = 1:length(gains)
set(gca,'ColorOrderIndex',1);
cl_poles = pole(feedback(G, (gains(i)*s)*eye(6)));
p1 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',1);
cl_poles = pole(feedback(G, (gains(i)*s)*eye(6)));
p1 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',2);
cl_poles = pole(feedback(Gf, (gains(i)*s)*eye(6)));
p2 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',2);
cl_poles = pole(feedback(Gf, (gains(i)*s)*eye(6)));
p2 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',3);
cl_poles = pole(feedback(Ga, (gains(i)*s)*eye(6)));
p3 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',3);
cl_poles = pole(feedback(Ga, (gains(i)*s)*eye(6)));
p3 = plot(real(cl_poles), imag(cl_poles), '.');
end
ylim([0, 1.1*max(imag(pole(G)))]);
xlim([-1.1*max(imag(pole(G))),0]);

63
matlab/active_damping_iff.m
View File

@@ -23,17 +23,14 @@ stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart, 'type', 'none');
ground = initializeGround('type', 'none');
ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
payload = initializePayload('type', 'none');
controller = initializeController('type', 'open-loop');
% And we identify the dynamics from force actuators to force sensors.
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'stewart_platform_model';
@@ -43,7 +40,7 @@ io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1;
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);
G = linearize(mdl, io);
G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
G.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
@@ -58,8 +55,8 @@ figure;
ax1 = subplot(2, 1, 1);
hold on;
for i = 2:6
set(gca,'ColorOrderIndex',2);
plot(freqs, abs(squeeze(freqresp(G(['Fm', num2str(i)], 'F1'), freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2);
plot(freqs, abs(squeeze(freqresp(G(['Fm', num2str(i)], 'F1'), freqs, 'Hz'))));
end
set(gca,'ColorOrderIndex',1);
plot(freqs, abs(squeeze(freqresp(G('Fm1', 'F1'), freqs, 'Hz'))));
@@ -70,8 +67,8 @@ ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
ax2 = subplot(2, 1, 2);
hold on;
for i = 2:6
set(gca,'ColorOrderIndex',2);
p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Fm', num2str(i)], 'F1'), freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2);
p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Fm', num2str(i)], 'F1'), freqs, 'Hz'))));
end
set(gca,'ColorOrderIndex',1);
p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(G('Fm1', 'F1'), freqs, 'Hz'))));
@@ -88,7 +85,7 @@ linkaxes([ax1,ax2],'x');
% We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
Gf = linearize(mdl, io, options);
Gf = linearize(mdl, io);
Gf.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
Gf.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
@@ -97,7 +94,7 @@ Gf.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
% We now use the amplified actuators and re-identify the dynamics
stewart = initializeAmplifiedStrutDynamics(stewart);
Ga = linearize(mdl, io, options);
Ga = linearize(mdl, io);
Ga.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
Ga.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
@@ -156,17 +153,17 @@ plot(real(tzero(G)), imag(tzero(G)), 'o');
plot(real(tzero(Gf)), imag(tzero(Gf)), 'o');
plot(real(tzero(Ga)), imag(tzero(Ga)), 'o');
for i = 1:length(gains)
cl_poles = pole(feedback(G, (gains(i)/s)*eye(6)));
set(gca,'ColorOrderIndex',1);
p1 = plot(real(cl_poles), imag(cl_poles), '.');
cl_poles = pole(feedback(G, (gains(i)/s)*eye(6)));
set(gca,'ColorOrderIndex',1);
p1 = plot(real(cl_poles), imag(cl_poles), '.');
cl_poles = pole(feedback(Gf, (gains(i)/s)*eye(6)));
set(gca,'ColorOrderIndex',2);
p2 = plot(real(cl_poles), imag(cl_poles), '.');
cl_poles = pole(feedback(Gf, (gains(i)/s)*eye(6)));
set(gca,'ColorOrderIndex',2);
p2 = plot(real(cl_poles), imag(cl_poles), '.');
cl_poles = pole(feedback(Ga, (gains(i)/s)*eye(6)));
set(gca,'ColorOrderIndex',3);
p3 = plot(real(cl_poles), imag(cl_poles), '.');
cl_poles = pole(feedback(Ga, (gains(i)/s)*eye(6)));
set(gca,'ColorOrderIndex',3);
p3 = plot(real(cl_poles), imag(cl_poles), '.');
end
ylim([0, 1.1*max(imag(pole(G)))]);
xlim([-1.1*max(imag(pole(G))),0]);
@@ -187,20 +184,20 @@ gains = logspace(0, 5, 1000);
figure;
hold on;
for i = 1:length(gains)
set(gca,'ColorOrderIndex',1);
cl_poles = pole(feedback(G, (gains(i)/s)*eye(6)));
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
p1 = plot(gains(i)*ones(size(poles_damp)), poles_damp, '.');
set(gca,'ColorOrderIndex',1);
cl_poles = pole(feedback(G, (gains(i)/s)*eye(6)));
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
p1 = plot(gains(i)*ones(size(poles_damp)), poles_damp, '.');
set(gca,'ColorOrderIndex',2);
cl_poles = pole(feedback(Gf, (gains(i)/s)*eye(6)));
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
p2 = plot(gains(i)*ones(size(poles_damp)), poles_damp, '.');
set(gca,'ColorOrderIndex',2);
cl_poles = pole(feedback(Gf, (gains(i)/s)*eye(6)));
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
p2 = plot(gains(i)*ones(size(poles_damp)), poles_damp, '.');
set(gca,'ColorOrderIndex',3);
cl_poles = pole(feedback(Ga, (gains(i)/s)*eye(6)));
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
p3 = plot(gains(i)*ones(size(poles_damp)), poles_damp, '.');
set(gca,'ColorOrderIndex',3);
cl_poles = pole(feedback(Ga, (gains(i)/s)*eye(6)));
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
p3 = plot(gains(i)*ones(size(poles_damp)), poles_damp, '.');
end
xlabel('Control Gain');
ylabel('Damping of the Poles');

29
matlab/active_damping_inertial.m
View File

@@ -22,8 +22,9 @@ stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
ground = initializeGround('type', 'none');
ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
payload = initializePayload('type', 'none');
controller = initializeController('type', 'open-loop');
%% Options for Linearized
options = linearizeOptions;
@@ -53,8 +54,8 @@ figure;
ax1 = subplot(2, 1, 1);
hold on;
for i = 2:6
set(gca,'ColorOrderIndex',2);
plot(freqs, abs(squeeze(freqresp(G(['Vm', num2str(i)], 'F1'), freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2);
plot(freqs, abs(squeeze(freqresp(G(['Vm', num2str(i)], 'F1'), freqs, 'Hz'))));
end
set(gca,'ColorOrderIndex',1);
plot(freqs, abs(squeeze(freqresp(G('Vm1', 'F1'), freqs, 'Hz'))));
@@ -65,8 +66,8 @@ ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
ax2 = subplot(2, 1, 2);
hold on;
for i = 2:6
set(gca,'ColorOrderIndex',2);
p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Vm', num2str(i)], 'F1'), freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2);
p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Vm', num2str(i)], 'F1'), freqs, 'Hz'))));
end
set(gca,'ColorOrderIndex',1);
p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(G('Vm1', 'F1'), freqs, 'Hz'))));
@@ -151,17 +152,17 @@ plot(real(tzero(G)), imag(tzero(G)), 'o');
plot(real(tzero(Gf)), imag(tzero(Gf)), 'o');
plot(real(tzero(Ga)), imag(tzero(Ga)), 'o');
for i = 1:length(gains)
set(gca,'ColorOrderIndex',1);
cl_poles = pole(feedback(G, gains(i)*eye(6)));
p1 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',1);
cl_poles = pole(feedback(G, gains(i)*eye(6)));
p1 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',2);
cl_poles = pole(feedback(Gf, gains(i)*eye(6)));
p2 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',2);
cl_poles = pole(feedback(Gf, gains(i)*eye(6)));
p2 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',3);
cl_poles = pole(feedback(Ga, gains(i)*eye(6)));
p3 = plot(real(cl_poles), imag(cl_poles), '.');
set(gca,'ColorOrderIndex',3);
cl_poles = pole(feedback(Ga, gains(i)*eye(6)));
p3 = plot(real(cl_poles), imag(cl_poles), '.');
end
ylim([0, 3*max(imag(pole(G)))]);
xlim([-3*max(imag(pole(G))),0]);