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Add data file for design of Nass (WIP)

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Unknown 2018-04-27 12:59:42 +02:00
parent 35338eae9d
commit f86b3f814c
2 changed files with 46 additions and 86 deletions
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108
Design_Nass.m
View File

@ -1,77 +1,59 @@
run Formule_Nass.m
%% Nass height
Nass.h = 90 ; %mm
%% Bottom Plate
BP = struct();
BP.rad.int = 105 ; %mm
BP.rad.ext = 152.5 ; %mm
BP.thickness = 20 % mm
BP.leg.rad = 140 ; %mm
BP.leg.ang = 2.5 ; %deg
BP.density = 1000 ; %kg/m^3
BP.k.ax = 1e7/4; %z
BP.k.rad = 9e9/4; %x
BP.k.rrad = 9e9/4; %y
BP.ksi.ax = 10;
BP.ksi.rad = 10;
BP.ksi.rrad = 10;
BP = updateDamping(BP);
BP.color = [0.5 0.5 0.5] ; %rgb
%% TOP Plate
TP = struct();
TP.rad.int = 0 ;%mm
TP.rad.ext = 150 ; %mm
TP.thickness = 20 % mm
TP.leg.rad = 140 ; %mm
TP.leg.ang = 5 ; %deg
TP.density = 1000 ; %kg/m^3
TP.color = [0.5 0.5 0.5] ; %rgb
%% Leg
Leg = struct();
Leg.rad.bottom = 15 ; %mm
Leg.rad.top = 10 ; %mm
Leg.sphere.bottom = 20 ; % mm
Leg.sphere.top = 10 ; % mm
Leg.density = 1000 ; %kg/m^3
Leg.m = Leg.density*2*pi*((Leg.rad.bottom)^2)*(Leg.lenght); %kg
Leg.color.bottom = [0.5 0.5 0.5] ; %rgb
Leg.color.top = [0.5 0.5 0.5] ; %rgb
Leg.k.ax = 5e7; % N/m
Leg.ksi.ax = 10 ;
Leg = updateDamping(Leg);
%% Tilt
ry = struct();
ry.m = smiData.Solid(26).mass+smiData.Solid(18).mass+smiData.Solid(10).mass;
ry.k.h = 357e6/4; %y
ry.k.rad = 555e6/4; %x
ry.k.rrad = 238e6/4; %z
ry.k.tilt = 1e4 ; % rz in actuator
ry.ksi.h = 10;
ry.ksi.rad = 10;
ry.ksi.rrad = 10;
ry.ksi.tilt = 10;
ry = updateDamping(ry);
%% Spindle
rz = struct();
rz.m = smiData.Solid(12).mass+6*smiData.Solid(20).mass+smiData.Solid(19).mass;
rz.k.ax = 2e9; %x
rz.k.rad = 7e8; %z
rz.k.rrad = 7e8; %y
rz.k.tilt = 1e5;
rz.k.rot = 1e5;
rz.ksi.ax = 10;
rz.ksi.rad = 10;
rz.ksi.rrad = 10;
rz.ksi.tilt = 1;
rz.ksi.rot = 1;
rz = updateDamping(rz);
%% Hexapod Symétrie
hexapod = struct();
hexapod.m = smiData.Solid(16).mass;
hexapod.k.ax = (138e6/6)*1.2; %z
hexapod.ksi.ax = 10;
hexapod = updateDamping(hexapod);
%% Axis Corrector
axisc = struct();
axisc.m = smiData.Solid(30).mass;
axisc.k.ax = 1; % (N*m/deg))
axisc.ksi.ax = 1;
axisc = updateDamping(axisc);
%% NASS
nass = struct();
nass.m = smiData.Solid(27).mass;
nass.k.ax = 5e7; %z
nass.ksi.ax = 10;
nass = updateDamping(nass);
%% Wobble
wob = struct();
wob.m = smiData.Solid(5).mass;
wob.k.ax = 1e10;
wob.ksi.ax = 10;
wob = updateDamping(wob);
%% Sphere
SP = struct();
SP.thickness.bottom = 1 ; %mm
SP.thickness.top = 1 ; %mm
SP.rad.bottom = Leg.rad.bottom ; %mm
SP.rad.top = Leg.rad.ttop ; %mm
SP.height.bottom = 5 ; %mm
SP.height.top = 5 ; %mm
SP.density.bottom = 1000 ; %kg/m^3
SP.density.top = 1000 ; %kg/m^3
SP.m = SP.density*2*pi*((SP.rad.bottom)^2)*(SP.height.bottom); %kg
SP.color.bottom = [0.5 0.5 0.5] ; %rgb
SP.color.top = [0.5 0.5 0.5] ; %rgb
SP.k.ax = 5e7 ; % N*m/deg
SP.ksi.ax = 10 ;
SP = updateDamping(SP);
%%
function element = updateDamping(element)

22
Formule_Nass.m
View File

@ -65,25 +65,3 @@ for i = 1:6,
upper_leg(i).end_point = pos_base(i,:) + (1/4)*legs(i,:);
upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
end
% Inertia and mass calculation
top_thickness = 0.05;
base_thickness = 0.05;
inner_radius = 0.03;
outer_radius = 0.05;
density = 76e3/9.81; % steel density in Kg/m^3
%leg inertia and mass
[lower_leg_mass, lower_leg_inertia] = inertiaCylinder(density, ...
0.75*leg_length(1),outer_radius, inner_radius);
[upper_leg_mass, upper_leg_inertia] = inertiaCylinder(density, ...
0.75*leg_length(1),inner_radius, 0);
% top and base plate mass and inertia
[top_mass, top_inertia] = inertiaCylinder(density, ...
top_thickness, radius_t, 0);
[base_mass, base_inertia] = inertiaCylinder(density, ...
base_thickness,radius_b, 0);
% PID controller gains
Kp = 2e6; Ki = 1e4; Kd = 4.5e4;