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Rework Stewart Platform => Working correctly

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This commit is contained in:
Thomas Dehaeze
2020-09-21 10:47:34 +02:00
parent ce9464aeb1
commit 59e56fae29
4 changed files with 176 additions and 3 deletions
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@@ -41,7 +41,7 @@
#+PROPERTY: header-args:latex+ :output-dir figs
:END:
* Simscape Model
* Simscape Model - Gravimeter
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
@@ -74,13 +74,13 @@
#+end_src
#+begin_src matlab
freqs = logspace(-1, 2, 1000);
freqs = logspace(-2, 2, 1000);
figure;
for in_i = 1:3
for out_i = 1:4
subplot(4, 3, 3*(out_i-1)+in_i);
plot(freqs, abs(squeeze(freqresp(G(out_i,in_i)/s^2, freqs, 'Hz'))), '-');
plot(freqs, abs(squeeze(freqresp(G(out_i,in_i), freqs, 'Hz'))), '-');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
end
end
@@ -368,3 +368,176 @@
zdelta = PHI(:,10,10);
rot = PHI(:,11,11);
#+end_src
* Simscape Model - Stewart Platform
** Matlab Init :noexport:ignore:
#+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
** Jacobian
#+begin_src matlab
open('stewart_platform/drone_platform_jacobian.slx');
#+end_src
#+begin_src matlab
sim('drone_platform_jacobian');
#+end_src
#+begin_src matlab
Aa = [a1.Data(1,:);
a2.Data(1,:);
a3.Data(1,:);
a4.Data(1,:);
a5.Data(1,:);
a6.Data(1,:)]';
Ab = [b1.Data(1,:);
b2.Data(1,:);
b3.Data(1,:);
b4.Data(1,:);
b5.Data(1,:);
b6.Data(1,:)]';
As = (Ab - Aa)./vecnorm(Ab - Aa);
l = vecnorm(Ab - Aa)';
J = [As' , cross(Ab, As)'];
save('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
#+end_src
** Simulink
#+begin_src matlab
open('stewart_platform/drone_platform.slx');
#+end_src
#+begin_src matlab
kx = 50;
ky = 50;
kz = 50;
cx = 0.025;
cy = 0.025;
cz = 0.025;
#+end_src
#+begin_src matlab
load('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
#+end_src
#+begin_src matlab
%% Name of the Simulink File
mdl = 'drone_platform';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/u'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Inertial Sensor'], 1, 'openoutput'); io_i = io_i + 1;
G = linearize(mdl, io);
G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
G.OutputName = {'Ax', 'Ay', 'Az', 'Arx', 'Ary', 'Arz'};
Gx = -G*inv(J');
Gx.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
Gl = -J*G;
Gl.OutputName = {'A1', 'A2', 'A3', 'A4', 'A5', 'A6'};
#+end_src
#+begin_src matlab :exports none
freqs = logspace(-1, 2, 1000);
figure;
ax1 = subplot(2, 1, 1);
hold on;
plot(freqs, abs(squeeze(freqresp(Gx(1, 1), freqs, 'Hz'))), 'DisplayName', '$A_x/F_x$');
plot(freqs, abs(squeeze(freqresp(Gx(2, 2), freqs, 'Hz'))), 'DisplayName', '$A_y/F_y$');
plot(freqs, abs(squeeze(freqresp(Gx(3, 3), freqs, 'Hz'))), 'DisplayName', '$A_z/F_z$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
legend('location', 'southeast');
ax2 = subplot(2, 1, 2);
hold on;
for i = 1:3
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gx(i, i), freqs, 'Hz')))));
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
ylim([-270, 90]);
yticks([-360:90:360]);
linkaxes([ax1,ax2],'x');
#+end_src
#+begin_src matlab :exports none
freqs = logspace(-1, 2, 1000);
figure;
ax1 = subplot(2, 1, 1);
hold on;
plot(freqs, abs(squeeze(freqresp(Gx(4, 4), freqs, 'Hz'))), 'DisplayName', '$A_{R_x}/M_x$');
plot(freqs, abs(squeeze(freqresp(Gx(5, 5), freqs, 'Hz'))), 'DisplayName', '$A_{R_y}/M_y$');
plot(freqs, abs(squeeze(freqresp(Gx(6, 6), freqs, 'Hz'))), 'DisplayName', '$A_{R_z}/M_z$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [rad/(Nm)]'); set(gca, 'XTickLabel',[]);
legend('location', 'southeast');
ax2 = subplot(2, 1, 2);
hold on;
for i = 4:6
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gx(i, i), freqs, 'Hz')))));
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
ylim([-270, 90]);
yticks([-360:90:360]);
linkaxes([ax1,ax2],'x');
#+end_src
#+begin_src matlab :exports none
freqs = logspace(-1, 2, 1000);
figure;
ax1 = subplot(2, 1, 1);
hold on;
for i = 1:6
plot(freqs, abs(squeeze(freqresp(Gl(i, i), freqs, 'Hz'))));
end
for i = 1:5
for j = i+1:6
plot(freqs, abs(squeeze(freqresp(Gl(i, j), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2]);
end
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*unwrap(angle(squeeze(freqresp(Gl(i, i), freqs, 'Hz')))));
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
ylim([-270, 90]);
yticks([-360:90:360]);
linkaxes([ax1,ax2],'x');
#+end_src