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b/figs/open_loop_tf_g.png index 8675c9a..c6dac93 100644 Binary files a/figs/open_loop_tf_g.png and b/figs/open_loop_tf_g.png differ diff --git a/gravimeter/gravimeter.slx b/gravimeter/gravimeter.slx index 8c37b4d..9cfb21f 100644 Binary files a/gravimeter/gravimeter.slx and b/gravimeter/gravimeter.slx differ diff --git a/gravimeter/script.m b/gravimeter/script.m index 05222f0..eb42696 100644 --- a/gravimeter/script.m +++ b/gravimeter/script.m @@ -14,11 +14,11 @@ open('gravimeter.slx') % Parameters -l = 0.5; % Length of the mass [m] -la = 0.5; % Position of Act. [m] +l = 0.5/2; % Length of the mass [m] +la = 0.5/2; % Position of Act. [m] -h = 1.7; % Height of the mass [m] -ha = 1.7; % Position of Act. [m] +h = 1.7/2; % Height of the mass [m] +ha = 1.7/2; % Position of Act. [m] m = 400; % Mass [kg] I = 115; % Inertia [kg m^2] @@ -33,7 +33,7 @@ g = 0; % Gravity [m/s2] % System Identification - Without Gravity %% Name of the Simulink File -mdl = 'gravimeter'; +mdl = 'gravimeterplanarjoints2020a'; %% Input/Output definition clear io; io_i = 1; @@ -57,12 +57,12 @@ pole(G) % #+begin_example % pole(G) % ans = -% -0.000473481142385801 + 21.7596190728632i -% -0.000473481142385801 - 21.7596190728632i -% -7.49842879459177e-05 + 8.6593576906982i -% -7.49842879459177e-05 - 8.6593576906982i -% -5.15386867925747e-06 + 2.27025295182755i -% -5.15386867925747e-06 - 2.27025295182755i +% -0.000143694057817022 + 11.9872485389527i +% -0.000143694057817022 - 11.9872485389527i +% -7.49842879371933e-05 + 8.65931816830372i +% -7.49842879371933e-05 - 8.65931816830372i +% -4.25202990156283e-06 + 2.06202312114216i +% -4.25202990156283e-06 - 2.06202312114216i % #+end_example % The plant as 6 states as expected (2 translations + 1 rotation) @@ -104,14 +104,14 @@ pole(Gg) % #+RESULTS: % #+begin_example -% pole(G) +% pole(Gg) % ans = -% -10.9848275341276 + 0i -% 10.9838836405193 + 0i -% -7.49855396089326e-05 + 8.65962885769976i -% -7.49855396089326e-05 - 8.65962885769976i -% -6.68819341967921e-06 + 0.83296042226902i -% -6.68819341967921e-06 - 0.83296042226902i +% -7.49842906813125e-05 + 8.6594885739673i +% -7.49842906813125e-05 - 8.6594885739673i +% 7.08960832564352 + 0i +% -7.08989438800737 + 0i +% 1.70627135943515 + 0i +% -1.70628118924799 + 0i % #+end_example diff --git a/index.html b/index.html index 7147bf4..bbbadd5 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + SVD Control @@ -35,58 +35,71 @@

Table of Contents

-
-

1 Gravimeter - Simscape Model

+
+

1 Gravimeter - Simscape Model

-
-

1.1 Simscape Model - Parameters

+
+

1.1 Introduction

+ +
+

gravimeter_model.png +

+

Figure 1: Model of the gravimeter

+
+
+
+ +
+

1.2 Simscape Model - Parameters

+
-
open('gravimeter.slx')
+
open('gravimeter.slx')
 
@@ -94,58 +107,58 @@ Parameters

-
l  = 0.5/2; % Length of the mass [m]
-la = 0.5/2; % Position of Act. [m]
+
l  = 1.0; % Length of the mass [m]
+la = 0.5; % Position of Act. [m]
 
-h  = 1.7/2; % Height of the mass [m]
-ha = 1.7/2; % Position of Act. [m]
+h  = 3.4; % Height of the mass [m]
+ha = 1.7; % Position of Act. [m]
 
-m = 400; % Mass [kg]
-I = 115; % Inertia [kg m^2]
+m = 400; % Mass [kg]
+I = 115; % Inertia [kg m^2]
 
-k = 15e3; % Actuator Stiffness [N/m]
-c = 0.03; % Actuator Damping [N/(m/s)]
+k = 15e3; % Actuator Stiffness [N/m]
+c = 0.03; % Actuator Damping [N/(m/s)]
 
-deq = 0.2; % Length of the actuators [m]
+deq = 0.2; % Length of the actuators [m]
 
-g = 0; % Gravity [m/s2]
+g = 0; % Gravity [m/s2]
 
-
-

1.2 System Identification - Without Gravity

-
+
+

1.3 System Identification - Without Gravity

+
-
%% Name of the Simulink File
-mdl = 'gravimeter';
+
%% Name of the Simulink File
+mdl = 'gravimeter';
 
-%% Input/Output definition
+%% Input/Output definition
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/F1'], 1, 'openinput');  io_i = io_i + 1;
-io(io_i) = linio([mdl, '/F2'], 1, 'openinput');  io_i = io_i + 1;
-io(io_i) = linio([mdl, '/F3'], 1, 'openinput');  io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Acc_side'], 1, 'openoutput'); io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Acc_side'], 2, 'openoutput'); io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Acc_top'], 1, 'openoutput'); io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Acc_top'], 2, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/F1'], 1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/F2'], 1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/F3'], 1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_side'], 1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_side'], 2, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_top'], 1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_top'], 2, 'openoutput'); io_i = io_i + 1;
 
 G = linearize(mdl, io);
-G.InputName  = {'F1', 'F2', 'F3'};
-G.OutputName = {'Ax1', 'Az1', 'Ax2', 'Az2'};
+G.InputName  = {'F1', 'F2', 'F3'};
+G.OutputName = {'Ax1', 'Az1', 'Ax2', 'Az2'};
 
 pole(G)
 ans =
-      -0.000143694057817022 +      11.9872485389527i
-      -0.000143694057817022 -      11.9872485389527i
-      -7.49842879371933e-05 +      8.65931816830372i
-      -7.49842879371933e-05 -      8.65931816830372i
-      -4.25202990156283e-06 +      2.06202312114216i
-      -4.25202990156283e-06 -      2.06202312114216i
+      -0.000473481142385795 +      21.7596190728632i
+      -0.000473481142385795 -      21.7596190728632i
+      -7.49842879459172e-05 +       8.6593576906982i
+      -7.49842879459172e-05 -       8.6593576906982i
+       -5.1538686792578e-06 +      2.27025295182756i
+       -5.1538686792578e-06 -      2.27025295182756i
 

@@ -162,26 +175,26 @@ State-space model with 4 outputs, 3 inputs, and 6 states. -

+

open_loop_tf.png

-

Figure 1: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers

+

Figure 2: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers

-
-

1.3 System Identification - With Gravity

-
+
+

1.4 System Identification - With Gravity

+
-
g = 9.80665; % Gravity [m/s2]
+
g = 9.80665; % Gravity [m/s2]
 
Gg = linearize(mdl, io);
-Gg.InputName  = {'F1', 'F2', 'F3'};
-Gg.OutputName = {'Ax1', 'Az1', 'Ax2', 'Az2'};
+Gg.InputName  = {'F1', 'F2', 'F3'};
+Gg.OutputName = {'Ax1', 'Az1', 'Ax2', 'Az2'};
 
@@ -191,75 +204,48 @@ We can now see that the system is unstable due to gravity.
 pole(Gg)
 ans =
-      -7.49842906813125e-05 +       8.6594885739673i
-      -7.49842906813125e-05 -       8.6594885739673i
-           7.08960832564352 +                     0i
-          -7.08989438800737 +                     0i
-           1.70627135943515 +                     0i
-          -1.70628118924799 +                     0i
+          -10.9848275341252 +                     0i
+           10.9838836405201 +                     0i
+      -7.49855379478109e-05 +      8.65962885770051i
+      -7.49855379478109e-05 -      8.65962885770051i
+      -6.68819548733559e-06 +     0.832960422243848i
+      -6.68819548733559e-06 -     0.832960422243848i
 
-
+

open_loop_tf_g.png

-

Figure 2: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers with an without gravity

+

Figure 3: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers with an without gravity

-
-

1.4 Analytical Model

-
+
+

1.5 Analytical Model

+
-
-

1.4.1 Parameters

-
-

-Control parameters -

-
-
g = 1e5;
-g_svd = 1e5;
-
-
- -

-System parameters -

-
-
l  = 0.5; % Length of the mass [m]
-la = 0.5; % Position of Act. [m]
-
-h  = 1.7; % Height of the mass [m]
-ha = 1.7; % Position of Act. [m]
-
-m = 400; % Mass [kg]
-I = 115; % Inertia [kg m^2]
-
-k = 15e3; % Actuator Stiffness [N/m]
-c = 0.03; % Actuator Damping [N/(m/s)]
-
-
- +
+

1.5.1 Parameters

+

Bode options.

P = bodeoptions;
-P.FreqUnits = 'Hz';
-P.MagUnits = 'abs';
-P.MagScale = 'log';
-P.Grid = 'on';
-P.PhaseWrapping = 'on';
+P.FreqUnits = 'Hz';
+P.MagUnits = 'abs';
+P.MagScale = 'log';
+P.Grid = 'on';
+P.PhaseWrapping = 'on';
 P.Title.FontSize = 14;
 P.XLabel.FontSize = 14;
 P.YLabel.FontSize = 14;
 P.TickLabel.FontSize = 12;
-P.Xlim = [1e-1,1e2];
-P.MagLowerLimMode = 'manual';
-P.MagLowerLim= 1e-3;
-%P.PhaseVisible = 'off';
+P.Xlim = [1e-1,1e2];
+P.MagLowerLimMode = 'manual';
+P.MagLowerLim= 1e-3;
+%P.PhaseVisible = 'off';
 
@@ -267,61 +253,60 @@ P.MagLowerLim= 1e-3; Frequency vector.

-
w = 2*pi*logspace(-1,2,1000); % [rad/s]
+
w = 2*pi*logspace(-1,2,1000); % [rad/s]
 
-
-

1.4.2 generation of the state space model

-
+
+

1.5.2 generation of the state space model

+
M = [m 0 0
      0 m 0
      0 0 I];
 
-%Jacobian of the bottom sensor
-Js1 = [1 0 h/2
-       0 1 -l/2];
-%Jacobian of the top sensor
-Js2 = [1 0 -h/2
-       0 1 0];
+%Jacobian of the bottom sensor
+Js1 = [1 0  h/2
+       0 1 -l/2];
+%Jacobian of the top sensor
+Js2 = [1 0 -h/2
+       0 1  0];
 
-%Jacobian of the actuators
-Ja = [1 0 ha/2 %Left horizontal actuator
-               %1 0 h/2 %Right horizontal actuator
-      0 1 -la/2 %Left vertical actuator
-      0 1 la/2]; %Right vertical actuator
-Jta = Ja';
-K = k*Jta*Ja;
-C = c*Jta*Ja;
+%Jacobian of the actuators
+Ja = [1 0  ha   % Left horizontal actuator
+      0 1 -la   % Left vertical actuator
+      0 1  la]; % Right vertical actuator
+Jta = Ja';
+K = k*Jta*Ja;
+C = c*Jta*Ja;
 
 E = [1 0 0
      0 1 0
-     0 0 1]; %projecting ground motion in the directions of the legs
+     0 0 1]; %projecting ground motion in the directions of the legs
 
 AA = [zeros(3) eye(3)
-      -M\K -M\C];
+      -M\K -M\C];
 
 BB = [zeros(3,6)
-      M\Jta M\(k*Jta*E)];
+      M\Jta M\(k*Jta*E)];
 
-% BB = [zeros(3,3)
-%     M\Jta ];
-%
-% CC = [Ja zeros(3)];
-% DD = zeros(3,3);
+% BB = [zeros(3,3)
+%     M\Jta ];
+%
+% CC = [Ja zeros(3)];
+% DD = zeros(3,3);
 
 CC = [[Js1;Js2] zeros(4,3);
       zeros(2,6)
-      (Js1+Js2)./2 zeros(2,3)
-      (Js1-Js2)./2 zeros(2,3)
-      (Js1-Js2)./(2*h) zeros(2,3)];
+      (Js1+Js2)./2 zeros(2,3)
+      (Js1-Js2)./2 zeros(2,3)
+      (Js1-Js2)./(2*h) zeros(2,3)];
 
 DD = [zeros(4,6)
-      zeros(2,3) eye(2,3)
-      zeros(6,6)];
+      zeros(2,3) eye(2,3)
+      zeros(6,6)];
 
 system_dec = ss(AA,BB,CC,DD);
 
@@ -343,231 +328,231 @@ State-space model with 12 outputs, 6 inputs, and 6 states.
-
-

1.4.3 Comparison with the Simscape Model

-
+
+

1.5.3 Comparison with the Simscape Model

+
-
+

gravimeter_analytical_system_open_loop_models.png

-

Figure 3: Comparison of the analytical and the Simscape models

+

Figure 4: Comparison of the analytical and the Simscape models

-
-

1.4.4 Analysis

-
+
+

1.5.4 Analysis

+
-
% figure
-% bode(system_dec,P);
-% return
+
% figure
+% bode(system_dec,P);
+% return
 
-
%% svd decomposition
-% system_dec_freq = freqresp(system_dec,w);
-% S = zeros(3,length(w));
-% for m = 1:length(w)
-%     S(:,m) = svd(system_dec_freq(1:4,1:3,m));
-% end
-% figure
-% loglog(w./(2*pi), S);hold on;
-% % loglog(w./(2*pi), abs(Val(1,:)),w./(2*pi), abs(Val(2,:)),w./(2*pi), abs(Val(3,:)));
-% xlabel('Frequency [Hz]');ylabel('Singular Value [-]');
-% legend('\sigma_1','\sigma_2','\sigma_3');%,'\sigma_4','\sigma_5','\sigma_6');
-% ylim([1e-8 1e-2]);
-%
-% %condition number
-% figure
-% loglog(w./(2*pi), S(1,:)./S(3,:));hold on;
-% % loglog(w./(2*pi), abs(Val(1,:)),w./(2*pi), abs(Val(2,:)),w./(2*pi), abs(Val(3,:)));
-% xlabel('Frequency [Hz]');ylabel('Condition number [-]');
-% % legend('\sigma_1','\sigma_2','\sigma_3');%,'\sigma_4','\sigma_5','\sigma_6');
-%
-% %performance indicator
-% system_dec_svd = freqresp(system_dec(1:4,1:3),2*pi*10);
-% [U,S,V] = svd(system_dec_svd);
-% H_svd_OL = -eye(3,4);%-[zpk(-2*pi*10,-2*pi*40,40/10) 0 0 0; 0 10*zpk(-2*pi*40,-2*pi*200,40/200) 0 0; 0 0 zpk(-2*pi*2,-2*pi*10,10/2) 0];% - eye(3,4);%
-% H_svd = pinv(V')*H_svd_OL*pinv(U);
-% % system_dec_control_svd_ = feedback(system_dec,g*pinv(V')*H*pinv(U));
-%
-% OL_dec = g_svd*H_svd*system_dec(1:4,1:3);
-% OL_freq = freqresp(OL_dec,w); % OL = G*H
-% CL_system = feedback(eye(3),-g_svd*H_svd*system_dec(1:4,1:3));
-% CL_freq = freqresp(CL_system,w); % CL = (1+G*H)^-1
-% % CL_system_2 = feedback(system_dec,H);
-% % CL_freq_2 = freqresp(CL_system_2,w); % CL = G/(1+G*H)
-% for i = 1:size(w,2)
-%     OL(:,i) = svd(OL_freq(:,:,i));
-%     CL (:,i) = svd(CL_freq(:,:,i));
-%     %CL2 (:,i) = svd(CL_freq_2(:,:,i));
-% end
-%
-% un = ones(1,length(w));
-% figure
-% loglog(w./(2*pi),OL(3,:)+1,'k',w./(2*pi),OL(3,:)-1,'b',w./(2*pi),1./CL(1,:),'r--',w./(2*pi),un,'k:');hold on;%
-% % loglog(w./(2*pi), 1./(CL(2,:)),w./(2*pi), 1./(CL(3,:)));
-% % semilogx(w./(2*pi), 1./(CL2(1,:)),w./(2*pi), 1./(CL2(2,:)),w./(2*pi), 1./(CL2(3,:)));
-% xlabel('Frequency [Hz]');ylabel('Singular Value [-]');
-% legend('GH \sigma_{inf} +1 ','GH \sigma_{inf} -1','S 1/\sigma_{sup}');%,'\lambda_1','\lambda_2','\lambda_3');
-%
-% figure
-% loglog(w./(2*pi),OL(1,:)+1,'k',w./(2*pi),OL(1,:)-1,'b',w./(2*pi),1./CL(3,:),'r--',w./(2*pi),un,'k:');hold on;%
-% % loglog(w./(2*pi), 1./(CL(2,:)),w./(2*pi), 1./(CL(3,:)));
-% % semilogx(w./(2*pi), 1./(CL2(1,:)),w./(2*pi), 1./(CL2(2,:)),w./(2*pi), 1./(CL2(3,:)));
-% xlabel('Frequency [Hz]');ylabel('Singular Value [-]');
-% legend('GH \sigma_{sup} +1 ','GH \sigma_{sup} -1','S 1/\sigma_{inf}');%,'\lambda_1','\lambda_2','\lambda_3');
+
%% svd decomposition
+% system_dec_freq = freqresp(system_dec,w);
+% S = zeros(3,length(w));
+% for m = 1:length(w)
+%     S(:,m) = svd(system_dec_freq(1:4,1:3,m));
+% end
+% figure
+% loglog(w./(2*pi), S);hold on;
+% % loglog(w./(2*pi), abs(Val(1,:)),w./(2*pi), abs(Val(2,:)),w./(2*pi), abs(Val(3,:)));
+% xlabel('Frequency [Hz]');ylabel('Singular Value [-]');
+% legend('\sigma_1','\sigma_2','\sigma_3');%,'\sigma_4','\sigma_5','\sigma_6');
+% ylim([1e-8 1e-2]);
+%
+% %condition number
+% figure
+% loglog(w./(2*pi), S(1,:)./S(3,:));hold on;
+% % loglog(w./(2*pi), abs(Val(1,:)),w./(2*pi), abs(Val(2,:)),w./(2*pi), abs(Val(3,:)));
+% xlabel('Frequency [Hz]');ylabel('Condition number [-]');
+% % legend('\sigma_1','\sigma_2','\sigma_3');%,'\sigma_4','\sigma_5','\sigma_6');
+%
+% %performance indicator
+% system_dec_svd = freqresp(system_dec(1:4,1:3),2*pi*10);
+% [U,S,V] = svd(system_dec_svd);
+% H_svd_OL = -eye(3,4);%-[zpk(-2*pi*10,-2*pi*40,40/10) 0 0 0; 0 10*zpk(-2*pi*40,-2*pi*200,40/200) 0 0; 0 0 zpk(-2*pi*2,-2*pi*10,10/2) 0];% - eye(3,4);%
+% H_svd = pinv(V')*H_svd_OL*pinv(U);
+% % system_dec_control_svd_ = feedback(system_dec,g*pinv(V')*H*pinv(U));
+%
+% OL_dec = g_svd*H_svd*system_dec(1:4,1:3);
+% OL_freq = freqresp(OL_dec,w); % OL = G*H
+% CL_system = feedback(eye(3),-g_svd*H_svd*system_dec(1:4,1:3));
+% CL_freq = freqresp(CL_system,w); % CL = (1+G*H)^-1
+% % CL_system_2 = feedback(system_dec,H);
+% % CL_freq_2 = freqresp(CL_system_2,w); % CL = G/(1+G*H)
+% for i = 1:size(w,2)
+%     OL(:,i) = svd(OL_freq(:,:,i));
+%     CL (:,i) = svd(CL_freq(:,:,i));
+%     %CL2 (:,i) = svd(CL_freq_2(:,:,i));
+% end
+%
+% un = ones(1,length(w));
+% figure
+% loglog(w./(2*pi),OL(3,:)+1,'k',w./(2*pi),OL(3,:)-1,'b',w./(2*pi),1./CL(1,:),'r--',w./(2*pi),un,'k:');hold on;%
+% % loglog(w./(2*pi), 1./(CL(2,:)),w./(2*pi), 1./(CL(3,:)));
+% % semilogx(w./(2*pi), 1./(CL2(1,:)),w./(2*pi), 1./(CL2(2,:)),w./(2*pi), 1./(CL2(3,:)));
+% xlabel('Frequency [Hz]');ylabel('Singular Value [-]');
+% legend('GH \sigma_{inf} +1 ','GH \sigma_{inf} -1','S 1/\sigma_{sup}');%,'\lambda_1','\lambda_2','\lambda_3');
+%
+% figure
+% loglog(w./(2*pi),OL(1,:)+1,'k',w./(2*pi),OL(1,:)-1,'b',w./(2*pi),1./CL(3,:),'r--',w./(2*pi),un,'k:');hold on;%
+% % loglog(w./(2*pi), 1./(CL(2,:)),w./(2*pi), 1./(CL(3,:)));
+% % semilogx(w./(2*pi), 1./(CL2(1,:)),w./(2*pi), 1./(CL2(2,:)),w./(2*pi), 1./(CL2(3,:)));
+% xlabel('Frequency [Hz]');ylabel('Singular Value [-]');
+% legend('GH \sigma_{sup} +1 ','GH \sigma_{sup} -1','S 1/\sigma_{inf}');%,'\lambda_1','\lambda_2','\lambda_3');
 
-
-

1.4.5 Control Section

-
+
+

1.5.5 Control Section

+
-
system_dec_10Hz = freqresp(system_dec,2*pi*10);
+
system_dec_10Hz = freqresp(system_dec,2*pi*10);
 system_dec_0Hz = freqresp(system_dec,0);
 
 system_decReal_10Hz = pinv(align(system_dec_10Hz));
-[Ureal,Sreal,Vreal] = svd(system_decReal_10Hz(1:4,1:3));
-normalizationMatrixReal = abs(pinv(Ureal)*system_dec_0Hz(1:4,1:3)*pinv(Vreal'));
+[Ureal,Sreal,Vreal] = svd(system_decReal_10Hz(1:4,1:3));
+normalizationMatrixReal = abs(pinv(Ureal)*system_dec_0Hz(1:4,1:3)*pinv(Vreal'));
 
-[U,S,V] = svd(system_dec_10Hz(1:4,1:3));
-normalizationMatrix = abs(pinv(U)*system_dec_0Hz(1:4,1:3)*pinv(V'));
+[U,S,V] = svd(system_dec_10Hz(1:4,1:3));
+normalizationMatrix = abs(pinv(U)*system_dec_0Hz(1:4,1:3)*pinv(V'));
 
-H_dec = ([zpk(-2*pi*5,-2*pi*30,30/5) 0 0 0
-          0 zpk(-2*pi*4,-2*pi*20,20/4) 0 0
-          0 0 0 zpk(-2*pi,-2*pi*10,10)]);
-H_cen_OL = [zpk(-2*pi,-2*pi*10,10) 0 0; 0 zpk(-2*pi,-2*pi*10,10) 0;
-            0 0 zpk(-2*pi*5,-2*pi*30,30/5)];
-H_cen = pinv(Jta)*H_cen_OL*pinv([Js1; Js2]);
-% H_svd_OL = -[1/normalizationMatrix(1,1) 0 0 0
-%     0 1/normalizationMatrix(2,2) 0 0
-%     0 0 1/normalizationMatrix(3,3) 0];
-% H_svd_OL_real = -[1/normalizationMatrixReal(1,1) 0 0 0
-%     0 1/normalizationMatrixReal(2,2) 0 0
-%     0 0 1/normalizationMatrixReal(3,3) 0];
-H_svd_OL = -[1/normalizationMatrix(1,1)*zpk(-2*pi*10,-2*pi*60,60/10) 0 0 0
-             0 1/normalizationMatrix(2,2)*zpk(-2*pi*5,-2*pi*30,30/5) 0 0
-             0 0 1/normalizationMatrix(3,3)*zpk(-2*pi*2,-2*pi*10,10/2) 0];
-H_svd_OL_real = -[1/normalizationMatrixReal(1,1)*zpk(-2*pi*10,-2*pi*60,60/10) 0 0 0
-                  0 1/normalizationMatrixReal(2,2)*zpk(-2*pi*5,-2*pi*30,30/5) 0 0
-                  0 0 1/normalizationMatrixReal(3,3)*zpk(-2*pi*2,-2*pi*10,10/2) 0];
-% H_svd_OL_real = -[zpk(-2*pi*10,-2*pi*40,40/10) 0 0 0; 0 10*zpk(-2*pi*10,-2*pi*100,100/10) 0 0; 0 0 zpk(-2*pi*2,-2*pi*10,10/2) 0];%-eye(3,4);
-% H_svd_OL = -[zpk(-2*pi*10,-2*pi*40,40/10) 0 0 0; 0 zpk(-2*pi*4,-2*pi*20,4/20) 0 0; 0 0 zpk(-2*pi*2,-2*pi*10,10/2) 0];% - eye(3,4);%
-H_svd = pinv(V')*H_svd_OL*pinv(U);
-H_svd_real = pinv(Vreal')*H_svd_OL_real*pinv(Ureal);
+H_dec = ([zpk(-2*pi*5,-2*pi*30,30/5) 0 0 0
+          0 zpk(-2*pi*4,-2*pi*20,20/4) 0 0
+          0 0 0 zpk(-2*pi,-2*pi*10,10)]);
+H_cen_OL = [zpk(-2*pi,-2*pi*10,10) 0 0; 0 zpk(-2*pi,-2*pi*10,10) 0;
+            0 0 zpk(-2*pi*5,-2*pi*30,30/5)];
+H_cen = pinv(Jta)*H_cen_OL*pinv([Js1; Js2]);
+% H_svd_OL = -[1/normalizationMatrix(1,1) 0 0 0
+%     0 1/normalizationMatrix(2,2) 0 0
+%     0 0 1/normalizationMatrix(3,3) 0];
+% H_svd_OL_real = -[1/normalizationMatrixReal(1,1) 0 0 0
+%     0 1/normalizationMatrixReal(2,2) 0 0
+%     0 0 1/normalizationMatrixReal(3,3) 0];
+H_svd_OL = -[1/normalizationMatrix(1,1)*zpk(-2*pi*10,-2*pi*60,60/10) 0 0 0
+             0 1/normalizationMatrix(2,2)*zpk(-2*pi*5,-2*pi*30,30/5) 0 0
+             0 0 1/normalizationMatrix(3,3)*zpk(-2*pi*2,-2*pi*10,10/2) 0];
+H_svd_OL_real = -[1/normalizationMatrixReal(1,1)*zpk(-2*pi*10,-2*pi*60,60/10) 0 0 0
+                  0 1/normalizationMatrixReal(2,2)*zpk(-2*pi*5,-2*pi*30,30/5) 0 0
+                  0 0 1/normalizationMatrixReal(3,3)*zpk(-2*pi*2,-2*pi*10,10/2) 0];
+% H_svd_OL_real = -[zpk(-2*pi*10,-2*pi*40,40/10) 0 0 0; 0 10*zpk(-2*pi*10,-2*pi*100,100/10) 0 0; 0 0 zpk(-2*pi*2,-2*pi*10,10/2) 0];%-eye(3,4);
+% H_svd_OL = -[zpk(-2*pi*10,-2*pi*40,40/10) 0 0 0; 0 zpk(-2*pi*4,-2*pi*20,4/20) 0 0; 0 0 zpk(-2*pi*2,-2*pi*10,10/2) 0];% - eye(3,4);%
+H_svd = pinv(V')*H_svd_OL*pinv(U);
+H_svd_real = pinv(Vreal')*H_svd_OL_real*pinv(Ureal);
 
-OL_dec = g*H_dec*system_dec(1:4,1:3);
-OL_cen = g*H_cen_OL*pinv([Js1; Js2])*system_dec(1:4,1:3)*pinv(Jta);
-OL_svd = 100*H_svd_OL*pinv(U)*system_dec(1:4,1:3)*pinv(V');
-OL_svd_real = 100*H_svd_OL_real*pinv(Ureal)*system_dec(1:4,1:3)*pinv(Vreal');
+OL_dec = g*H_dec*system_dec(1:4,1:3);
+OL_cen = g*H_cen_OL*pinv([Js1; Js2])*system_dec(1:4,1:3)*pinv(Jta);
+OL_svd = 100*H_svd_OL*pinv(U)*system_dec(1:4,1:3)*pinv(V');
+OL_svd_real = 100*H_svd_OL_real*pinv(Ureal)*system_dec(1:4,1:3)*pinv(Vreal');
 
-
% figure
-% bode(OL_dec,w,P);title('OL Decentralized');
-% figure
-% bode(OL_cen,w,P);title('OL Centralized');
+
% figure
+% bode(OL_dec,w,P);title('OL Decentralized');
+% figure
+% bode(OL_cen,w,P);title('OL Centralized');
 
-
figure
-bode(g*system_dec(1:4,1:3),w,P);
-title('gain * Plant');
+
figure
+bode(g*system_dec(1:4,1:3),w,P);
+title('gain * Plant');
 
-
figure
+
figure
 bode(OL_svd,OL_svd_real,w,P);
-title('OL SVD');
-legend('SVD of Complex plant','SVD of real approximation of the complex plant')
+title('OL SVD');
+legend('SVD of Complex plant','SVD of real approximation of the complex plant')
 
-
figure
-bode(system_dec(1:4,1:3),pinv(U)*system_dec(1:4,1:3)*pinv(V'),P);
+
figure
+bode(system_dec(1:4,1:3),pinv(U)*system_dec(1:4,1:3)*pinv(V'),P);
 
-
CL_dec = feedback(system_dec,g*H_dec,[1 2 3],[1 2 3 4]);
-CL_cen = feedback(system_dec,g*H_cen,[1 2 3],[1 2 3 4]);
-CL_svd = feedback(system_dec,100*H_svd,[1 2 3],[1 2 3 4]);
-CL_svd_real = feedback(system_dec,100*H_svd_real,[1 2 3],[1 2 3 4]);
+
CL_dec = feedback(system_dec,g*H_dec,[1 2 3],[1 2 3 4]);
+CL_cen = feedback(system_dec,g*H_cen,[1 2 3],[1 2 3 4]);
+CL_svd = feedback(system_dec,100*H_svd,[1 2 3],[1 2 3 4]);
+CL_svd_real = feedback(system_dec,100*H_svd_real,[1 2 3],[1 2 3 4]);
 
pzmap_testCL(system_dec,H_dec,g,[1 2 3],[1 2 3 4])
-title('Decentralized control');
+title('Decentralized control');
 
pzmap_testCL(system_dec,H_cen,g,[1 2 3],[1 2 3 4])
-title('Centralized control');
+title('Centralized control');
 
pzmap_testCL(system_dec,H_svd,100,[1 2 3],[1 2 3 4])
-title('SVD control');
+title('SVD control');
 
pzmap_testCL(system_dec,H_svd_real,100,[1 2 3],[1 2 3 4])
-title('Real approximation SVD control');
+title('Real approximation SVD control');
 
-
P.Ylim = [1e-8 1e-3];
-figure
-bodemag(system_dec(1:4,1:3),CL_dec(1:4,1:3),CL_cen(1:4,1:3),CL_svd(1:4,1:3),CL_svd_real(1:4,1:3),P);
-title('Motion/actuator')
-legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
+
P.Ylim = [1e-8 1e-3];
+figure
+bodemag(system_dec(1:4,1:3),CL_dec(1:4,1:3),CL_cen(1:4,1:3),CL_svd(1:4,1:3),CL_svd_real(1:4,1:3),P);
+title('Motion/actuator')
+legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
 
-
P.Ylim = [1e-5 1e1];
-figure
-bodemag(system_dec(1:4,4:6),CL_dec(1:4,4:6),CL_cen(1:4,4:6),CL_svd(1:4,4:6),CL_svd_real(1:4,4:6),P);
-title('Transmissibility');
-legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
+
P.Ylim = [1e-5 1e1];
+figure
+bodemag(system_dec(1:4,4:6),CL_dec(1:4,4:6),CL_cen(1:4,4:6),CL_svd(1:4,4:6),CL_svd_real(1:4,4:6),P);
+title('Transmissibility');
+legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
 
-
figure
-bodemag(system_dec([7 9],4:6),CL_dec([7 9],4:6),CL_cen([7 9],4:6),CL_svd([7 9],4:6),CL_svd_real([7 9],4:6),P);
-title('Transmissibility from half sum and half difference in the X direction');
-legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
+
figure
+bodemag(system_dec([7 9],4:6),CL_dec([7 9],4:6),CL_cen([7 9],4:6),CL_svd([7 9],4:6),CL_svd_real([7 9],4:6),P);
+title('Transmissibility from half sum and half difference in the X direction');
+legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
 
-
figure
-bodemag(system_dec([8 10],4:6),CL_dec([8 10],4:6),CL_cen([8 10],4:6),CL_svd([8 10],4:6),CL_svd_real([8 10],4:6),P);
-title('Transmissibility from half sum and half difference in the Z direction');
-legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
+
figure
+bodemag(system_dec([8 10],4:6),CL_dec([8 10],4:6),CL_cen([8 10],4:6),CL_svd([8 10],4:6),CL_svd_real([8 10],4:6),P);
+title('Transmissibility from half sum and half difference in the Z direction');
+legend('Control OFF','Decentralized control','Centralized control','SVD control','SVD control real appr.');
 
-
-

1.4.6 Greshgorin radius

-
+
+

1.5.6 Greshgorin radius

+
system_dec_freq = freqresp(system_dec,w);
 x1 = zeros(1,length(w));
@@ -577,91 +562,91 @@ S1 = zeros(1,length(w));
 S2 = zeros(1,length(w));
 S3 = zeros(1,length(w));
 
-for t = 1:length(w)
-    x1(t) = (abs(system_dec_freq(1,2,t))+abs(system_dec_freq(1,3,t)))/abs(system_dec_freq(1,1,t));
-    z1(t) = (abs(system_dec_freq(2,1,t))+abs(system_dec_freq(2,3,t)))/abs(system_dec_freq(2,2,t));
-    x2(t) = (abs(system_dec_freq(3,1,t))+abs(system_dec_freq(3,2,t)))/abs(system_dec_freq(3,3,t));
-    system_svd = pinv(Ureal)*system_dec_freq(1:4,1:3,t)*pinv(Vreal');
-    S1(t) = (abs(system_svd(1,2))+abs(system_svd(1,3)))/abs(system_svd(1,1));
-    S2(t) = (abs(system_svd(2,1))+abs(system_svd(2,3)))/abs(system_svd(2,2));
-    S2(t) = (abs(system_svd(3,1))+abs(system_svd(3,2)))/abs(system_svd(3,3));
-end
+for t = 1:length(w)
+    x1(t) = (abs(system_dec_freq(1,2,t))+abs(system_dec_freq(1,3,t)))/abs(system_dec_freq(1,1,t));
+    z1(t) = (abs(system_dec_freq(2,1,t))+abs(system_dec_freq(2,3,t)))/abs(system_dec_freq(2,2,t));
+    x2(t) = (abs(system_dec_freq(3,1,t))+abs(system_dec_freq(3,2,t)))/abs(system_dec_freq(3,3,t));
+    system_svd = pinv(Ureal)*system_dec_freq(1:4,1:3,t)*pinv(Vreal');
+    S1(t) = (abs(system_svd(1,2))+abs(system_svd(1,3)))/abs(system_svd(1,1));
+    S2(t) = (abs(system_svd(2,1))+abs(system_svd(2,3)))/abs(system_svd(2,2));
+    S2(t) = (abs(system_svd(3,1))+abs(system_svd(3,2)))/abs(system_svd(3,3));
+end
 
-limit = 0.5*ones(1,length(w));
+limit = 0.5*ones(1,length(w));
 
-
figure
-loglog(w./(2*pi),x1,w./(2*pi),z1,w./(2*pi),x2,w./(2*pi),limit,'--');
-legend('x_1','z_1','x_2','Limit');
-xlabel('Frequency [Hz]');
-ylabel('Greshgorin radius [-]');
+
figure
+loglog(w./(2*pi),x1,w./(2*pi),z1,w./(2*pi),x2,w./(2*pi),limit,'--');
+legend('x_1','z_1','x_2','Limit');
+xlabel('Frequency [Hz]');
+ylabel('Greshgorin radius [-]');
 
-
figure
-loglog(w./(2*pi),S1,w./(2*pi),S2,w./(2*pi),S3,w./(2*pi),limit,'--');
-legend('S1','S2','S3','Limit');
-xlabel('Frequency [Hz]');
-ylabel('Greshgorin radius [-]');
-% set(gcf,'color','w')
+
figure
+loglog(w./(2*pi),S1,w./(2*pi),S2,w./(2*pi),S3,w./(2*pi),limit,'--');
+legend('S1','S2','S3','Limit');
+xlabel('Frequency [Hz]');
+ylabel('Greshgorin radius [-]');
+% set(gcf,'color','w')
 
-
-

1.4.7 Injecting ground motion in the system to have the output

-
+
+

1.5.7 Injecting ground motion in the system to have the output

+
-
Fr = logspace(-2,3,1e3);
-w=2*pi*Fr*1i;
-%fit of the ground motion data in m/s^2/rtHz
+
Fr = logspace(-2,3,1e3);
+w=2*pi*Fr*1i;
+%fit of the ground motion data in m/s^2/rtHz
 Fr_ground_x = [0.07 0.1 0.15 0.3 0.7 0.8 0.9 1.2 5 10];
-n_ground_x1 = [4e-7 4e-7 2e-6 1e-6 5e-7 5e-7 5e-7 1e-6 1e-5 3.5e-5];
+n_ground_x1 = [4e-7 4e-7 2e-6 1e-6 5e-7 5e-7 5e-7 1e-6 1e-5 3.5e-5];
 Fr_ground_v = [0.07 0.08 0.1 0.11 0.12 0.15 0.25 0.6 0.8 1 1.2 1.6 2 6 10];
-n_ground_v1 = [7e-7 7e-7 7e-7 1e-6 1.2e-6 1.5e-6 1e-6 9e-7 7e-7 7e-7 7e-7 1e-6 2e-6 1e-5 3e-5];
+n_ground_v1 = [7e-7 7e-7 7e-7 1e-6 1.2e-6 1.5e-6 1e-6 9e-7 7e-7 7e-7 7e-7 1e-6 2e-6 1e-5 3e-5];
 
-n_ground_x = interp1(Fr_ground_x,n_ground_x1,Fr,'linear');
-n_ground_v = interp1(Fr_ground_v,n_ground_v1,Fr,'linear');
-% figure
-% loglog(Fr,abs(n_ground_v),Fr_ground_v,n_ground_v1,'*');
-% xlabel('Frequency [Hz]');ylabel('ASD [m/s^2 /rtHz]');
-% return
+n_ground_x = interp1(Fr_ground_x,n_ground_x1,Fr,'linear');
+n_ground_v = interp1(Fr_ground_v,n_ground_v1,Fr,'linear');
+% figure
+% loglog(Fr,abs(n_ground_v),Fr_ground_v,n_ground_v1,'*');
+% xlabel('Frequency [Hz]');ylabel('ASD [m/s^2 /rtHz]');
+% return
 
-%converting into PSD
-n_ground_x = (n_ground_x).^2;
-n_ground_v = (n_ground_v).^2;
+%converting into PSD
+n_ground_x = (n_ground_x).^2;
+n_ground_v = (n_ground_v).^2;
 
-%Injecting ground motion in the system and getting the outputs
+%Injecting ground motion in the system and getting the outputs
 system_dec_f = (freqresp(system_dec,abs(w)));
 PHI = zeros(size(Fr,2),12,12);
-for p = 1:size(Fr,2)
+for p = 1:size(Fr,2)
     Sw=zeros(6,6);
     Iact = zeros(3,3);
-    Sw(4,4) = n_ground_x(p);
-    Sw(5,5) = n_ground_v(p);
-    Sw(6,6) = n_ground_v(p);
-    Sw(1:3,1:3) = Iact;
-    PHI(p,:,:) = (system_dec_f(:,:,p))*Sw(:,:)*(system_dec_f(:,:,p))';
-end
-x1 = PHI(:,1,1);
-z1 = PHI(:,2,2);
-x2 = PHI(:,3,3);
-z2 = PHI(:,4,4);
-wx = PHI(:,5,5);
-wz = PHI(:,6,6);
-x12 = PHI(:,1,3);
-z12 = PHI(:,2,4);
-PHIwx = PHI(:,1,5);
-PHIwz = PHI(:,2,6);
-xsum = PHI(:,7,7);
-zsum = PHI(:,8,8);
-xdelta = PHI(:,9,9);
-zdelta = PHI(:,10,10);
-rot = PHI(:,11,11);
+    Sw(4,4) = n_ground_x(p);
+    Sw(5,5) = n_ground_v(p);
+    Sw(6,6) = n_ground_v(p);
+    Sw(1:3,1:3) = Iact;
+    PHI(p,:,:) = (system_dec_f(:,:,p))*Sw(:,:)*(system_dec_f(:,:,p))';
+end
+x1 = PHI(:,1,1);
+z1 = PHI(:,2,2);
+x2 = PHI(:,3,3);
+z2 = PHI(:,4,4);
+wx = PHI(:,5,5);
+wz = PHI(:,6,6);
+x12 = PHI(:,1,3);
+z12 = PHI(:,2,4);
+PHIwx = PHI(:,1,5);
+PHIwz = PHI(:,2,6);
+xsum = PHI(:,7,7);
+zsum = PHI(:,8,8);
+xdelta = PHI(:,9,9);
+zdelta = PHI(:,10,10);
+rot = PHI(:,11,11);
 
@@ -669,15 +654,15 @@ rot = PHI(:,11,11);
-
-

2 Gravimeter - Functions

+
+

2 Gravimeter - Functions

-
-

2.1 align

+
+

2.1 align

- +

@@ -685,32 +670,32 @@ This Matlab function is accessible here.

-
function [A] = align(V)
-%A!ALIGN(V) returns a constat matrix A which is the real alignment of the
-%INVERSE of the complex input matrix V
-%from Mohit slides
+
function [A] = align(V)
+%A!ALIGN(V) returns a constat matrix A which is the real alignment of the
+%INVERSE of the complex input matrix V
+%from Mohit slides
 
-    if (nargin ==0) || (nargin > 1)
-        disp('usage: mat_inv_real = align(mat)')
-        return
-    end
+    if (nargin ==0) || (nargin > 1)
+        disp('usage: mat_inv_real = align(mat)')
+        return
+    end
 
-    D = pinv(real(V'*V));
-    A = D*real(V'*diag(exp(1i * angle(diag(V*D*V.'))/2)));
+    D = pinv(real(V'*V));
+    A = D*real(V'*diag(exp(1i * angle(diag(V*D*V.'))/2)));
 
 
-end
+end
 
-
-

2.2 pzmap_testCL

+
+

2.2 pzmap_testCL

- +

@@ -718,40 +703,40 @@ This Matlab function is accessible here.

-
function [] = pzmap_testCL(system,H,gain,feedin,feedout)
-% evaluate and plot the pole-zero map for the closed loop system for
-% different values of the gain
+
function [] = pzmap_testCL(system,H,gain,feedin,feedout)
+% evaluate and plot the pole-zero map for the closed loop system for
+% different values of the gain
 
-    [~, n] = size(gain);
-    [m1, n1, ~] = size(H);
-    [~,n2] = size(feedin);
+    [~, n] = size(gain);
+    [m1, n1, ~] = size(H);
+    [~,n2] = size(feedin);
 
-    figure
-    for i = 1:n
-        %     if n1 == n2
-        system_CL = feedback(system,gain(i)*H,feedin,feedout);
+    figure
+    for i = 1:n
+        %     if n1 == n2
+        system_CL = feedback(system,gain(i)*H,feedin,feedout);
 
         [P,Z] = pzmap(system_CL);
-        plot(real(P(:)),imag(P(:)),'x',real(Z(:)),imag(Z(:)),'o');hold on
-        xlabel('Real axis (s^{-1})');ylabel('Imaginary Axis (s^{-1})');
-        %         clear P Z
-        %     else
-        %         system_CL = feedback(system,gain(i)*H(:,1+(i-1)*m1:m1+(i-1)*m1),feedin,feedout);
-        %
-        %         [P,Z] = pzmap(system_CL);
-        %         plot(real(P(:)),imag(P(:)),'x',real(Z(:)),imag(Z(:)),'o');hold on
-        %         xlabel('Real axis (s^{-1})');ylabel('Imaginary Axis (s^{-1})');
-        %         clear P Z
-        %     end
-    end
-    str = {strcat('gain = ' , num2str(gain(1)))};  % at the end of first loop, z being loop output
-    str = [str , strcat('gain = ' , num2str(gain(1)))]; % after 2nd loop
-    for i = 2:n
-        str = [str , strcat('gain = ' , num2str(gain(i)))]; % after 2nd loop
-        str = [str , strcat('gain = ' , num2str(gain(i)))]; % after 2nd loop
-    end
-    legend(str{:})
-end
+        plot(real(P(:)),imag(P(:)),'x',real(Z(:)),imag(Z(:)),'o');hold on
+        xlabel('Real axis (s^{-1})');ylabel('Imaginary Axis (s^{-1})');
+        %         clear P Z
+        %     else
+        %         system_CL = feedback(system,gain(i)*H(:,1+(i-1)*m1:m1+(i-1)*m1),feedin,feedout);
+        %
+        %         [P,Z] = pzmap(system_CL);
+        %         plot(real(P(:)),imag(P(:)),'x',real(Z(:)),imag(Z(:)),'o');hold on
+        %         xlabel('Real axis (s^{-1})');ylabel('Imaginary Axis (s^{-1})');
+        %         clear P Z
+        %     end
+    end
+    str = {strcat('gain = ' , num2str(gain(1)))};  % at the end of first loop, z being loop output
+    str = [str , strcat('gain = ' , num2str(gain(1)))]; % after 2nd loop
+    for i = 2:n
+        str = [str , strcat('gain = ' , num2str(gain(i)))]; % after 2nd loop
+        str = [str , strcat('gain = ' , num2str(gain(i)))]; % after 2nd loop
+    end
+    legend(str{:})
+end
 
 
@@ -759,58 +744,58 @@ end
-
-

3 Stewart Platform - Simscape Model

+
+

3 Stewart Platform - Simscape Model

-
-

3.1 Jacobian

+
+

3.1 Jacobian

First, the position of the “joints” (points of force application) are estimated and the Jacobian computed.

-
open('stewart_platform/drone_platform_jacobian.slx');
+
open('stewart_platform/drone_platform_jacobian.slx');
 
-
sim('drone_platform_jacobian');
+
sim('drone_platform_jacobian');
 
-
Aa = [a1.Data(1,:);
-      a2.Data(1,:);
-      a3.Data(1,:);
-      a4.Data(1,:);
-      a5.Data(1,:);
-      a6.Data(1,:)]';
+
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,:)]';
+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);
+As = (Ab - Aa)./vecnorm(Ab - Aa);
 
-l = vecnorm(Ab - Aa)';
+l = vecnorm(Ab - Aa)';
 
-J = [As' , cross(Ab, As)'];
+J = [As' , cross(Ab, As)'];
 
-save('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
+save('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
 
-
-

3.2 Simscape Model

+
+

3.2 Simscape Model

-
open('stewart_platform/drone_platform.slx');
+
open('stewart_platform/drone_platform.slx');
 
@@ -818,11 +803,11 @@ save('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J'); Definition of spring parameters

-
kx = 50; % [N/m]
+
kx = 50; % [N/m]
 ky = 50;
 kz = 50;
 
-cx = 0.025; % [Nm/rad]
+cx = 0.025; % [Nm/rad]
 cy = 0.025;
 cz = 0.025;
 
@@ -832,32 +817,32 @@ cz = 0.025; We load the Jacobian.

-
load('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
+
load('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
 
-
-

3.3 Identification of the plant

+
+

3.3 Identification of the plant

The dynamics is identified from forces applied by each legs to the measured acceleration of the top platform.

-
%% Name of the Simulink File
-mdl = 'drone_platform';
+
%% Name of the Simulink File
+mdl = 'drone_platform';
 
-%% Input/Output definition
+%% Input/Output definition
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Dw'],              1, 'openinput');  io_i = 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;
+io(io_i) = linio([mdl, '/Dw'],              1, 'openinput');  io_i = 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  = {'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz', ...
-                'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-G.OutputName = {'Ax', 'Ay', 'Az', 'Arx', 'Ary', 'Arz'};
+G.InputName  = {'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz', ...
+                'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Ax', 'Ay', 'Az', 'Arx', 'Ary', 'Arz'};
 
@@ -875,9 +860,9 @@ State-space model with 6 outputs, 12 inputs, and 24 states.
-
% G = G*blkdiag(inv(J), eye(6));
-% G.InputName  = {'Dw1', 'Dw2', 'Dw3', 'Dw4', 'Dw5', 'Dw6', ...
-%                 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+
% G = G*blkdiag(inv(J), eye(6));
+% G.InputName  = {'Dw1', 'Dw2', 'Dw3', 'Dw4', 'Dw5', 'Dw6', ...
+%                 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
 
@@ -885,63 +870,63 @@ State-space model with 6 outputs, 12 inputs, and 24 states. Thanks to the Jacobian, we compute the transfer functions in the frame of the legs and in an inertial frame.

-
Gx = G*blkdiag(eye(6), inv(J'));
-Gx.InputName  = {'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz', ...
-                 'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
+
Gx = G*blkdiag(eye(6), inv(J'));
+Gx.InputName  = {'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz', ...
+                 'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
 
-Gl = J*G;
-Gl.OutputName  = {'A1', 'A2', 'A3', 'A4', 'A5', 'A6'};
+Gl = J*G;
+Gl.OutputName  = {'A1', 'A2', 'A3', 'A4', 'A5', 'A6'};
 
-
-

3.4 Obtained Dynamics

+
+

3.4 Obtained Dynamics

-
+

stewart_platform_translations.png

-

Figure 4: Stewart Platform Plant from forces applied by the legs to the acceleration of the platform

+

Figure 5: Stewart Platform Plant from forces applied by the legs to the acceleration of the platform

-
+

stewart_platform_rotations.png

-

Figure 5: Stewart Platform Plant from torques applied by the legs to the angular acceleration of the platform

+

Figure 6: Stewart Platform Plant from torques applied by the legs to the angular acceleration of the platform

-
+

stewart_platform_legs.png

-

Figure 6: Stewart Platform Plant from forces applied by the legs to displacement of the legs

+

Figure 7: Stewart Platform Plant from forces applied by the legs to displacement of the legs

-
+

stewart_platform_transmissibility.png

-

Figure 7: Transmissibility

+

Figure 8: Transmissibility

-
-

3.5 Real Approximation of \(G\) at the decoupling frequency

+
+

3.5 Real Approximation of \(G\) at the decoupling frequency

Let’s compute a real approximation of the complex matrix \(H_1\) which corresponds to the the transfer function \(G_c(j\omega_c)\) from forces applied by the actuators to the measured acceleration of the top platform evaluated at the frequency \(\omega_c\).

-
wc = 2*pi*20; % Decoupling frequency [rad/s]
+
wc = 2*pi*20; % Decoupling frequency [rad/s]
 
-Gc = G({'Ax', 'Ay', 'Az', 'Arx', 'Ary', 'Arz'}, ...
-       {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}); % Transfer function to find a real approximation
+Gc = G({'Ax', 'Ay', 'Az', 'Arx', 'Ary', 'Arz'}, ...
+       {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}); % Transfer function to find a real approximation
 
-H1 = evalfr(Gc, j*wc);
+H1 = evalfr(Gc, j*wc);
 
@@ -949,15 +934,15 @@ H1 = evalfr(Gc, j*wc); The real approximation is computed as follows:

-
D = pinv(real(H1'*H1));
-H1 = inv(D*real(H1'*diag(exp(j*angle(diag(H1*D*H1.'))/2))));
+
D = pinv(real(H1'*H1));
+H1 = inv(D*real(H1'*diag(exp(j*angle(diag(H1*D*H1.'))/2))));
 
-
-

3.6 Verification of the decoupling using the “Gershgorin Radii”

+
+

3.6 Verification of the decoupling using the “Gershgorin Radii”

First, the Singular Value Decomposition of \(H_1\) is performed: @@ -978,7 +963,7 @@ Then, the “Gershgorin Radii” is computed for the plant \(G_c(s)\) an This is computed over the following frequencies.

-
freqs = logspace(-2, 2, 1000); % [Hz]
+
freqs = logspace(-2, 2, 1000); % [Hz]
 
@@ -988,10 +973,10 @@ Gershgorin Radii for the coupled plant:
Gr_coupled = zeros(length(freqs), size(Gc,2));
 
-H = abs(squeeze(freqresp(Gc, freqs, 'Hz')));
-for out_i = 1:size(Gc,2)
-    Gr_coupled(:, out_i) = squeeze((sum(H(out_i,:,:)) - H(out_i,out_i,:))./H(out_i, out_i, :));
-end
+H = abs(squeeze(freqresp(Gc, freqs, 'Hz')));
+for out_i = 1:size(Gc,2)
+    Gr_coupled(:, out_i) = squeeze((sum(H(out_i,:,:)) - H(out_i,out_i,:))./H(out_i, out_i, :));
+end
 
@@ -999,13 +984,13 @@ end Gershgorin Radii for the decoupled plant using SVD:

-
Gd = U'*Gc*V;
+
Gd = U'*Gc*V;
 Gr_decoupled = zeros(length(freqs), size(Gd,2));
 
-H = abs(squeeze(freqresp(Gd, freqs, 'Hz')));
-for out_i = 1:size(Gd,2)
-    Gr_decoupled(:, out_i) = squeeze((sum(H(out_i,:,:)) - H(out_i,out_i,:))./H(out_i, out_i, :));
-end
+H = abs(squeeze(freqresp(Gd, freqs, 'Hz')));
+for out_i = 1:size(Gd,2)
+    Gr_decoupled(:, out_i) = squeeze((sum(H(out_i,:,:)) - H(out_i,out_i,:))./H(out_i, out_i, :));
+end
 
@@ -1013,28 +998,28 @@ end Gershgorin Radii for the decoupled plant using the Jacobian:

-
Gj = Gc*inv(J');
+
Gj = Gc*inv(J');
 Gr_jacobian = zeros(length(freqs), size(Gj,2));
 
-H = abs(squeeze(freqresp(Gj, freqs, 'Hz')));
+H = abs(squeeze(freqresp(Gj, freqs, 'Hz')));
 
-for out_i = 1:size(Gj,2)
-    Gr_jacobian(:, out_i) = squeeze((sum(H(out_i,:,:)) - H(out_i,out_i,:))./H(out_i, out_i, :));
-end
+for out_i = 1:size(Gj,2)
+    Gr_jacobian(:, out_i) = squeeze((sum(H(out_i,:,:)) - H(out_i,out_i,:))./H(out_i, out_i, :));
+end
 
-
+

simscape_model_gershgorin_radii.png

-

Figure 8: Gershgorin Radii of the Coupled and Decoupled plants

+

Figure 9: Gershgorin Radii of the Coupled and Decoupled plants

-
-

3.7 Decoupled Plant

+
+

3.7 Decoupled Plant

Let’s see the bode plot of the decoupled plant \(G_d(s)\). @@ -1042,40 +1027,40 @@ Let’s see the bode plot of the decoupled plant \(G_d(s)\).

-
+

simscape_model_decoupled_plant_svd.png

-

Figure 9: Decoupled Plant using SVD

+

Figure 10: Decoupled Plant using SVD

-
+

simscape_model_decoupled_plant_jacobian.png

-

Figure 10: Decoupled Plant using the Jacobian

+

Figure 11: Decoupled Plant using the Jacobian

-
-

3.8 Diagonal Controller

+
+

3.8 Diagonal Controller

The controller \(K\) is a diagonal controller consisting a low pass filters with a crossover frequency \(\omega_c\) and a DC gain \(C_g\).

-
wc = 2*pi*0.1; % Crossover Frequency [rad/s]
-C_g = 50; % DC Gain
+
wc = 2*pi*0.1; % Crossover Frequency [rad/s]
+C_g = 50; % DC Gain
 
-K = eye(6)*C_g/(s+wc);
+K = eye(6)*C_g/(s+wc);
 
-
-

3.9 Centralized Control

+
+

3.9 Centralized Control

The control diagram for the centralized control is shown below. @@ -1093,14 +1078,14 @@ The Jacobian is used to convert forces in the cartesian frame to forces applied

-
G_cen = feedback(G, inv(J')*K, [7:12], [1:6]);
+
G_cen = feedback(G, inv(J')*K, [7:12], [1:6]);
 
-
-

3.10 SVD Control

+
+

3.10 SVD Control

The SVD control architecture is shown below. @@ -1117,14 +1102,14 @@ The matrices \(U\) and \(V\) are used to decoupled the plant \(G\). SVD Control

-
G_svd = feedback(G, pinv(V')*K*pinv(U), [7:12], [1:6]);
+
G_svd = feedback(G, pinv(V')*K*pinv(U), [7:12], [1:6]);
 
-
-

3.11 Results

+
+

3.11 Results

Let’s first verify the stability of the closed-loop systems: @@ -1154,14 +1139,14 @@ ans =

-The obtained transmissibility in Open-loop, for the centralized control as well as for the SVD control are shown in Figure 13. +The obtained transmissibility in Open-loop, for the centralized control as well as for the SVD control are shown in Figure 14.

-
+

stewart_platform_simscape_cl_transmissibility.png

-

Figure 13: Obtained Transmissibility

+

Figure 14: Obtained Transmissibility

@@ -1169,7 +1154,7 @@ The obtained transmissibility in Open-loop, for the centralized control as well

Author: Dehaeze Thomas

-

Created: 2020-10-02 ven. 09:48

+

Created: 2020-10-05 lun. 18:06

diff --git a/index.org b/index.org index 4b064c2..6b80cfa 100644 --- a/index.org +++ b/index.org @@ -47,7 +47,13 @@ :PROPERTIES: :header-args:matlab+: :tangle gravimeter/script.m :END: -** Matlab Init :noexport:ignore: +** Introduction + +#+name: fig:gravimeter_model +#+caption: Model of the gravimeter +[[file:figs/gravimeter_model.png]] + +** Matlab Init :noexport:ignore: #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) <> #+end_src @@ -67,11 +73,11 @@ Parameters #+begin_src matlab - l = 0.5/2; % Length of the mass [m] - la = 0.5/2; % Position of Act. [m] + l = 1.0; % Length of the mass [m] + la = 0.5; % Position of Act. [m] - h = 1.7/2; % Height of the mass [m] - ha = 1.7/2; % Position of Act. [m] + h = 3.4; % Height of the mass [m] + ha = 1.7; % Position of Act. [m] m = 400; % Mass [kg] I = 115; % Inertia [kg m^2] @@ -112,12 +118,12 @@ Parameters #+begin_example pole(G) ans = - -0.000143694057817022 + 11.9872485389527i - -0.000143694057817022 - 11.9872485389527i - -7.49842879371933e-05 + 8.65931816830372i - -7.49842879371933e-05 - 8.65931816830372i - -4.25202990156283e-06 + 2.06202312114216i - -4.25202990156283e-06 - 2.06202312114216i + -0.000473481142385795 + 21.7596190728632i + -0.000473481142385795 - 21.7596190728632i + -7.49842879459172e-05 + 8.6593576906982i + -7.49842879459172e-05 - 8.6593576906982i + -5.1538686792578e-06 + 2.27025295182756i + -5.1538686792578e-06 - 2.27025295182756i #+end_example The plant as 6 states as expected (2 translations + 1 rotation) @@ -170,12 +176,12 @@ We can now see that the system is unstable due to gravity. #+begin_example pole(Gg) ans = - -7.49842906813125e-05 + 8.6594885739673i - -7.49842906813125e-05 - 8.6594885739673i - 7.08960832564352 + 0i - -7.08989438800737 + 0i - 1.70627135943515 + 0i - -1.70628118924799 + 0i + -10.9848275341252 + 0i + 10.9838836405201 + 0i + -7.49855379478109e-05 + 8.65962885770051i + -7.49855379478109e-05 - 8.65962885770051i + -6.68819548733559e-06 + 0.832960422243848i + -6.68819548733559e-06 - 0.832960422243848i #+end_example #+begin_src matlab :exports none @@ -205,27 +211,6 @@ ans = ** Analytical Model *** Parameters -Control parameters -#+begin_src matlab - g = 1e5; - g_svd = 1e5; -#+end_src - -System parameters -#+begin_src matlab - l = 0.5; % Length of the mass [m] - la = 0.5; % Position of Act. [m] - - h = 1.7; % Height of the mass [m] - ha = 1.7; % Position of Act. [m] - - m = 400; % Mass [kg] - I = 115; % Inertia [kg m^2] - - k = 15e3; % Actuator Stiffness [N/m] - c = 0.03; % Actuator Damping [N/(m/s)] -#+end_src - Bode options. #+begin_src matlab P = bodeoptions; @@ -256,17 +241,16 @@ Frequency vector. 0 0 I]; %Jacobian of the bottom sensor - Js1 = [1 0 h/2 + Js1 = [1 0 h/2 0 1 -l/2]; %Jacobian of the top sensor Js2 = [1 0 -h/2 - 0 1 0]; + 0 1 0]; %Jacobian of the actuators - Ja = [1 0 ha/2 %Left horizontal actuator - %1 0 h/2 %Right horizontal actuator - 0 1 -la/2 %Left vertical actuator - 0 1 la/2]; %Right vertical actuator + Ja = [1 0 ha % Left horizontal actuator + 0 1 -la % Left vertical actuator + 0 1 la]; % Right vertical actuator Jta = Ja'; K = k*Jta*Ja; C = c*Jta*Ja;