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