#+TITLE: Stewart Platform - Control Study
:DRAWER:
#+STARTUP: overview

#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html

#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
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#+PROPERTY: header-args:matlab  :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:matlab+ :output-dir figs

#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:

* First Control Architecture
** Matlab Init                                                     :noexport:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
  <<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
  <<matlab-init>>
#+end_src

#+begin_src matlab
  simulinkproject('../');
#+end_src

** Control Schematic
#+begin_src latex :file control_measure_rotating_2dof.pdf
  \begin{tikzpicture}
    % Blocs
    \node[block] (J) at (0, 0) {$J$};
    \node[addb={+}{}{}{}{-}, right=1 of J] (subr) {};
    \node[block, right=0.8 of subr] (K) {$K_{L}$};
    \node[block, right=1 of K] (G) {$G_{L}$};

    % Connections and labels
    \draw[<-] (J.west)node[above left]{$\bm{r}_{n}$} -- ++(-1, 0);
    \draw[->] (J.east) -- (subr.west) node[above left]{$\bm{r}_{L}$};
    \draw[->] (subr.east) -- (K.west) node[above left]{$\bm{\epsilon}_{L}$};
    \draw[->] (K.east) -- (G.west) node[above left]{$\bm{\tau}$};
    \draw[->] (G.east) node[above right]{$\bm{L}$} -| ($(G.east)+(1, -1)$) -| (subr.south);
  \end{tikzpicture}
#+end_src

#+RESULTS:
[[file:figs/control_measure_rotating_2dof.png]]

** Initialize the Stewart platform
#+begin_src matlab
  stewart = initializeStewartPlatform();
  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
Let's identify the transfer function from $\bm{\tau}}$ to $\bm{L}$.
#+begin_src matlab
  %% Options for Linearized
  options = linearizeOptions;
  options.SampleTime = 0;

  %% Name of the Simulink File
  mdl = 'stewart_platform_model';

  %% Input/Output definition
  clear io; 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);
  G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
  G.OutputName = {'L1', 'L2', 'L3', 'L4', 'L5', 'L6'};
#+end_src

** Plant Analysis
Diagonal terms
#+begin_src matlab :exports none
  freqs = logspace(1, 4, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G(i, i), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);

  ax2 = subplot(2, 1, 2);
  hold on;
  for i = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G(i, i), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

Compare to off-diagonal terms
#+begin_src matlab :exports none
  freqs = logspace(1, 4, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:5
    for j = i+1:6
      plot(freqs, abs(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2]);
    end
  end
  set(gca,'ColorOrderIndex',1);
  plot(freqs, abs(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);

  ax2 = subplot(2, 1, 2);
  hold on;
  for i = 1:5
    for j = i+1:6
      plot(freqs, 180/pi*angle(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2]);
    end
  end
  set(gca,'ColorOrderIndex',1);
  plot(freqs, 180/pi*angle(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

** Controller Design
One integrator should be present in the controller.

A lead is added around the crossover frequency which is set to be around 500Hz.

#+begin_src matlab
  % wint = 2*pi*100; % Integrate until [rad]
  % wlead = 2*pi*500; % Location of the lead [rad]
  % hlead = 2; % Lead strengh

  % Kl = 1e6 * ... % Gain
  %      (s + wint)/(s) * ... % Integrator until 100Hz
  %      (1 + s/(wlead/hlead)/(1 + s/(wlead*hlead))); % Lead

  wc = 2*pi*100;
  Kl = 1/abs(freqresp(G(1,1), wc)) * wc/s * 1/(1 + s/(3*wc));
  Kl = Kl * eye(6);
#+end_src

#+begin_src matlab :exports none
  freqs = logspace(1, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  plot(freqs, abs(squeeze(freqresp(Kl(1,1)*G(1, 1), freqs, 'Hz'))));
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);

  ax2 = subplot(2, 1, 2);
  hold on;
  plot(freqs, 180/pi*angle(squeeze(freqresp(Kl(1,1)*G(1, 1), freqs, 'Hz'))));
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

#+begin_src matlab :exports none
  freqs = logspace(1, 4, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:5
    for j = i+1:6
      plot(freqs, abs(squeeze(freqresp(Kl(i,i)*G(i, j), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2]);
    end
  end
  set(gca,'ColorOrderIndex',1);
  plot(freqs, abs(squeeze(freqresp(Kl(1,1)*G(1, 1), freqs, 'Hz'))));
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);

  ax2 = subplot(2, 1, 2);
  hold on;
  for i = 1:5
    for j = i+1:6
      plot(freqs, 180/pi*angle(squeeze(freqresp(Kl(i, i)*G(i, j), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2]);
    end
  end
  set(gca,'ColorOrderIndex',1);
  plot(freqs, 180/pi*angle(squeeze(freqresp(Kl(1,1)*G(1, 1), freqs, 'Hz'))));
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src