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f9159c78c5
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.gitignore
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.gitignore
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# Windows default autosave extension
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*.asv
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*rtw/
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test_at**.m
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data/
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# OSX / *nix default autosave extension
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*.m~
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# Compiled MEX binaries (all platforms)
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*.mex*
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# Packaged app and toolbox files
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*.mlappinstall
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*.slxc
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*.mldatx
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*.mltbx
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*.xml
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piezoapa_slrt_rtw/
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# Generated helpsearch folders
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helpsearch*/
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# Simulink code generation folders
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slprj/
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sccprj/
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# Matlab code generation folders
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codegen/
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# Simulink autosave extension
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*.autosave
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# Simulink cache files
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*.slxc
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# Octave session info
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octave-workspace
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|
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žG<EFBFBD>TÔ ÂéPOˆ§ðÔ hÈq:‡†2Ú2ÄAÏaS è+q:<3A>úrPÔ úDÌ
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|
||||
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BIN
matlab/data/apa95ml_5kg.dat
Executable file
BIN
matlab/data/apa95ml_5kg.dat
Executable file
Binary file not shown.
@ -1,95 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data :ignore:
|
||||
% The data are loaded:
|
||||
|
||||
load('apa95ml_5kg_2a_1s.mat', 't', 'u', 'v');
|
||||
|
||||
|
||||
|
||||
% Any offset is removed.
|
||||
|
||||
u = detrend(u, 0); % Speedgoat DAC output Voltage [V]
|
||||
v = detrend(v, 0); % Speedgoat ADC input Voltage (sensor stack) [V]
|
||||
|
||||
|
||||
|
||||
% Here, the amplifier gain is 20.
|
||||
|
||||
u = 20*u; % Actuator Stack Voltage [V]
|
||||
|
||||
% Compute TF estimate and Coherence :ignore:
|
||||
% The transfer function from the actuator voltage $V_a$ to the force sensor stack voltage $V_s$ is computed.
|
||||
|
||||
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hann(ceil(5/Ts));
|
||||
|
||||
[tf_est, f] = tfestimate(u, v, win, [], [], 1/Ts);
|
||||
[coh, ~] = mscohere( u, v, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The coherence is shown in Figure [[fig:apa95ml_5kg_cedrat_coh]].
|
||||
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, coh, 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([10, 5e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:apa95ml_5kg_cedrat_coh
|
||||
% #+caption: Coherence
|
||||
% #+RESULTS:
|
||||
% [[file:figs/apa95ml_5kg_cedrat_coh.png]]
|
||||
|
||||
% The Simscape model is loaded and compared with the identified dynamics in Figure [[fig:bode_plot_force_sensor_voltage_comp_fem]].
|
||||
% The non-minimum phase zero is just a side effect of the not so great identification.
|
||||
% Taking longer measurements would results in a minimum phase zero.
|
||||
|
||||
|
||||
load('mat/fem_simscape_models.mat', 'Gfm');
|
||||
|
||||
freqs = logspace(1, 4, 1000);
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_est))
|
||||
plot(freqs, abs(squeeze(freqresp(Gfm, freqs, 'Hz'))))
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [V/V]'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
ylim([1e-3, 1e1]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_est), ...
|
||||
'DisplayName', 'Identification')
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gfm, freqs, 'Hz'))), ...
|
||||
'DisplayName', 'FEM')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks(-180:90:180);
|
||||
legend('location', 'northeast')
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5e3]);
|
||||
@ -1,34 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data :noexport:
|
||||
|
||||
load('huddle_test.mat', 't', 'y');
|
||||
|
||||
y = y - mean(y(1000:end));
|
||||
|
||||
% Time Domain Data
|
||||
|
||||
figure;
|
||||
plot(t(1000:end), y(1000:end))
|
||||
ylabel('Output Displacement [m]'); xlabel('Time [s]');
|
||||
|
||||
% PSD of Measurement Noise
|
||||
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hanning(ceil(1*Fs));
|
||||
|
||||
[pxx, f] = pwelch(y(1000:end), win, [], [], Fs);
|
||||
|
||||
figure;
|
||||
plot(f, sqrt(pxx));
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
|
||||
xlim([1, Fs/2]);
|
||||
@ -1,307 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% IFF Plant
|
||||
% From the identified plant, a model of the transfer function from the actuator stack voltage to the force sensor generated voltage is developed.
|
||||
|
||||
|
||||
w_z = 2*pi*111; % Zeros frequency [rad/s]
|
||||
w_p = 2*pi*255; % Pole frequency [rad/s]
|
||||
xi_z = 0.05;
|
||||
xi_p = 0.015;
|
||||
G_inf = 0.1;
|
||||
|
||||
Gi = G_inf*(s^2 + 2*xi_z*w_z*s + w_z^2)/(s^2 + 2*xi_p*w_p*s + w_p^2);
|
||||
|
||||
|
||||
|
||||
% Its bode plot is shown in Figure [[fig:iff_plant_identification_apa95ml]].
|
||||
|
||||
|
||||
freqs = logspace(1, 4, 1000);
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Gi, freqs, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); set(gca, 'XTickLabel', []);
|
||||
hold off;
|
||||
ylim([1e-3, 1e1]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gi, freqs, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks(-180:90:180);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:iff_plant_identification_apa95ml
|
||||
% #+caption: Bode plot of the IFF plant
|
||||
% #+RESULTS:
|
||||
% [[file:figs/iff_plant_identification_apa95ml.png]]
|
||||
|
||||
% The controller used in the Integral Force Feedback Architecture is:
|
||||
% \begin{equation}
|
||||
% K_{\text{IFF}}(s) = \frac{g}{s + 2\cdot 2\pi} \cdot \frac{s}{s + 0.5 \cdot 2\pi}
|
||||
% \end{equation}
|
||||
% where $g$ is a gain that can be tuned.
|
||||
|
||||
% Above 2 Hz the controller is basically an integrator, whereas an high pass filter is added at 0.5Hz to further reduce the low frequency gain.
|
||||
|
||||
% In the frequency band of interest, this controller should mostly act as a pure integrator.
|
||||
|
||||
% The Root Locus corresponding to this controller is shown in Figure [[fig:root_locus_iff_apa95ml_identification]].
|
||||
|
||||
|
||||
gains = logspace(0, 5, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(real(pole(Gi)), imag(pole(Gi)), 'kx');
|
||||
plot(real(tzero(Gi)), imag(tzero(Gi)), 'ko');
|
||||
for i = 1:length(gains)
|
||||
cl_poles = pole(feedback(Gi, (gains(i)/(s + 2*2*pi)*s/(s + 0.5*2*pi))));
|
||||
plot(real(cl_poles), imag(cl_poles), 'k.');
|
||||
end
|
||||
ylim([0, 1800]);
|
||||
xlim([-1600,200]);
|
||||
xlabel('Real Part')
|
||||
ylabel('Imaginary Part')
|
||||
axis square
|
||||
|
||||
% First tests with few gains
|
||||
% The controller is now implemented in practice, and few controller gains are tested: $g = 0$, $g = 10$ and $g = 100$.
|
||||
|
||||
% For each controller gain, the identification shown in Figure [[fig:test_bench_apa_schematic_iff]] is performed.
|
||||
|
||||
iff_g10 = load('apa95ml_iff_g10_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_g100 = load('apa95ml_iff_g100_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_of = load('apa95ml_iff_off_res.mat', 'u', 't', 'y', 'v');
|
||||
|
||||
Ts = 1e-4;
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_iff_g10, f] = tfestimate(iff_g10.u, iff_g10.y, win, [], [], 1/Ts);
|
||||
[co_iff_g10, ~] = mscohere( iff_g10.u, iff_g10.y, win, [], [], 1/Ts);
|
||||
|
||||
[tf_iff_g100, ~] = tfestimate(iff_g100.u, iff_g100.y, win, [], [], 1/Ts);
|
||||
[co_iff_g100, ~] = mscohere( iff_g100.u, iff_g100.y, win, [], [], 1/Ts);
|
||||
|
||||
[tf_iff_of, ~] = tfestimate(iff_of.u, iff_of.y, win, [], [], 1/Ts);
|
||||
[co_iff_of, ~] = mscohere( iff_of.u, iff_of.y, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The coherence between the excitation signal and the mass displacement as measured by the interferometer is shown in Figure [[fig:iff_first_test_coherence]].
|
||||
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, co_iff_of, '-', 'DisplayName', 'g=0')
|
||||
plot(f, co_iff_g10, '-', 'DisplayName', 'g=10')
|
||||
plot(f, co_iff_g100, '-', 'DisplayName', 'g=100')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
legend();
|
||||
xlim([60, 600])
|
||||
|
||||
|
||||
|
||||
% #+name: fig:iff_first_test_coherence
|
||||
% #+caption: Coherence
|
||||
% #+RESULTS:
|
||||
% [[file:figs/iff_first_test_coherence.png]]
|
||||
|
||||
% The obtained transfer functions are shown in Figure [[fig:iff_first_test_bode_plot]].
|
||||
% It is clear that the IFF architecture can actively damp the main resonance of the system.
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2, 1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_iff_of), '-', 'DisplayName', 'g=0')
|
||||
plot(f, abs(tf_iff_g10), '-', 'DisplayName', 'g=10')
|
||||
plot(f, abs(tf_iff_g100), '-', 'DisplayName', 'g=100')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
legend();
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(-tf_iff_of), '-')
|
||||
plot(f, 180/pi*angle(-tf_iff_g10), '-')
|
||||
plot(f, 180/pi*angle(-tf_iff_g100), '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
yticks(-360:90:360);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([60, 600]);
|
||||
|
||||
% Second test with many Gains
|
||||
% Then, the same identification test is performed for many more gains.
|
||||
|
||||
load('apa95ml_iff_test.mat', 'results');
|
||||
|
||||
Ts = 1e-4;
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
tf_iff = {zeros(1, length(results))};
|
||||
co_iff = {zeros(1, length(results))};
|
||||
g_iff = [0, 1, 5, 10, 50, 100];
|
||||
|
||||
for i=1:length(results)
|
||||
[tf_est, f] = tfestimate(results{i}.u, results{i}.y, win, [], [], 1/Ts);
|
||||
[co_est, ~] = mscohere(results{i}.u, results{i}.y, win, [], [], 1/Ts);
|
||||
|
||||
tf_iff(i) = {tf_est};
|
||||
co_iff(i) = {co_est};
|
||||
end
|
||||
|
||||
|
||||
|
||||
% The obtained dynamics are shown in Figure [[fig:iff_results_bode_plots]].
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2, 1]);
|
||||
hold on;
|
||||
for i = 1:length(results)
|
||||
plot(f, abs(tf_iff{i}), '-', 'DisplayName', sprintf('g = %0.f', g_iff(i)))
|
||||
end
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
legend();
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
for i = 1:length(results)
|
||||
plot(f, 180/pi*angle(-tf_iff{i}), '-')
|
||||
end
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
yticks(-360:90:360);
|
||||
axis padded 'auto x'
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([60, 600]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:iff_results_bode_plots
|
||||
% #+caption: Identified dynamics from excitation voltage to the mass displacement
|
||||
% #+RESULTS:
|
||||
% [[file:figs/iff_results_bode_plots.png]]
|
||||
|
||||
% For each gain, the parameters of a second order resonant system that best fits the data are estimated and are compared with the data in Figure [[fig:iff_results_bode_plots_identification]].
|
||||
|
||||
|
||||
G_id = {zeros(1,length(results))};
|
||||
|
||||
f_start = 70; % [Hz]
|
||||
f_end = 500; % [Hz]
|
||||
|
||||
for i = 1:length(results)
|
||||
tf_id = tf_iff{i}(sum(f<f_start):length(f)-sum(f>f_end));
|
||||
f_id = f(sum(f<f_start):length(f)-sum(f>f_end));
|
||||
|
||||
gfr = idfrd(tf_id, 2*pi*f_id, Ts);
|
||||
G_id(i) = {procest(gfr,'P2UDZ')};
|
||||
end
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2, 1]);
|
||||
hold on;
|
||||
for i = 1:length(results)
|
||||
set(gca,'ColorOrderIndex',i)
|
||||
plot(f, abs(tf_iff{i}), '-', 'DisplayName', sprintf('g = %0.f', g_iff(i)))
|
||||
set(gca,'ColorOrderIndex',i)
|
||||
plot(f, abs(squeeze(freqresp(G_id{i}, f, 'Hz'))), '--', 'HandleVisibility', 'off')
|
||||
end
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
legend();
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
for i = 1:length(results)
|
||||
set(gca,'ColorOrderIndex',i)
|
||||
plot(f, 180/pi*angle(tf_iff{i}), '-')
|
||||
set(gca,'ColorOrderIndex',i)
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G_id{i}, f, 'Hz'))), '--')
|
||||
end
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
yticks(-360:90:360);
|
||||
axis padded 'auto x'
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([60, 600]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:iff_results_bode_plots_identification
|
||||
% #+caption: Comparison of the measured dynamic and the identified 2nd order resonant systems that best fits the data
|
||||
% #+RESULTS:
|
||||
% [[file:figs/iff_results_bode_plots_identification.png]]
|
||||
|
||||
% Finally, we can represent the position of the poles of the 2nd order systems on the Root Locus plot (Figure [[fig:iff_results_root_locus]]).
|
||||
|
||||
|
||||
w_z = 2*pi*111; % Zeros frequency [rad/s]
|
||||
w_p = 2*pi*255; % Pole frequency [rad/s]
|
||||
xi_z = 0.05;
|
||||
xi_p = 0.015;
|
||||
G_inf = 2;
|
||||
|
||||
Gi = G_inf*(s^2 - 2*xi_z*w_z*s + w_z^2)/(s^2 + 2*xi_p*w_p*s + w_p^2);
|
||||
|
||||
|
||||
gains = logspace(0, 5, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(real(pole(Gi)), imag(pole(Gi)), 'kx', 'HandleVisibility', 'off');
|
||||
plot(real(tzero(Gi)), imag(tzero(Gi)), 'ko', 'HandleVisibility', 'off');
|
||||
for i = 1:length(results)
|
||||
set(gca,'ColorOrderIndex',i)
|
||||
plot(real(pole(G_id{i})), imag(pole(G_id{i})), 'o', 'DisplayName', sprintf('g = %0.f', g_iff(i)));
|
||||
end
|
||||
for i = 1:length(gains)
|
||||
cl_poles = pole(feedback(Gi, (gains(i)/(s + 2*pi*2))));
|
||||
plot(real(cl_poles), imag(cl_poles), 'k.', 'HandleVisibility', 'off');
|
||||
end
|
||||
ylim([0, 1800]);
|
||||
xlim([-1600,200]);
|
||||
xlabel('Real Part')
|
||||
ylabel('Imaginary Part')
|
||||
axis square
|
||||
legend('location', 'northwest');
|
||||
@ -1,48 +0,0 @@
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||||
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||||
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-8.1256077086162670e-02,-6.7272098201318146e-06,7.5771457821461653e-05,-7.7709489701395768e-08,7.6390655602689517e-04,3.9243186558967079e-07,8.3411402346350888e-02,-1.0303188618379029e-05,9.7185193603567353e-05,1.5593413540609805e-07,7.8580803193457329e-04,2.0047273910764479e-07,-1.4352940644354729e-04,1.5240641488740904e-05,8.0446216462971995e-02,7.3074689694699413e-08,-1.6621235360125423e-04,2.0699949835743692e-08,1.2249695867239195e-05,2.6081359946877276e-06,-7.5323545999567929e-05,-9.5230602640564974e-09,-6.5627717002762233e-07,-8.5023924694583477e-09,-3.4179421907823598e-07,-4.0018003432193134e-08,9.4225525774726048e-07,1.0727578731882579e-10,1.3446152959872664e-08,1.4953568702017696e-10,1.3756544526853177e-05,1.5393418288057589e-06,7.0273514652427875e-05,2.8985908002077392e-10,-6.2722271433620583e-07,1.4897571687958023e-09,-1.3937424135569246e-04,-2.9335108265574481e-06,-7.9429976096105998e-02,-9.1935137527123019e-08,-1.6534188875036679e-04,-1.2128195040244157e-07,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
|
||||
3.2312284906712023e-04,3.2137293308054001e-06,1.8669160478940235e-02,-2.0873163364654331e-08,-3.5600687061668377e-06,1.1646122969800890e-08,3.9201791398762732e-04,1.2281097577806732e-05,-1.8367414948480688e-02,-2.8456949579016907e-07,3.8239237901519933e-06,6.7189951277367188e-08,1.7855369283560560e-02,-9.9276638395210342e-06,9.2724916374817257e-04,-8.0774176068163371e-08,-1.0170540074819290e-06,-1.8341058651569558e-07,-5.7307072830326867e-04,5.6081536227597818e-07,-3.2435808593312605e-06,-9.6405805515502132e-11,-2.1724111213630516e-08,-4.5252053242077542e-09,8.7583167093927048e-06,-3.6426517560782987e-09,4.7292991151723916e-08,2.6496815581634922e-11,3.3600015639238423e-10,1.1194816509693329e-10,5.7220684626410818e-04,-1.2345380355458657e-06,-2.8347230564927774e-06,-7.3106672682279570e-09,1.6992411120847540e-08,-4.9533424316518648e-09,-1.7933645138478147e-02,-6.1130890258505052e-06,8.6403529262041583e-04,6.7358462849624387e-08,9.3746216479863337e-07,4.5287222866720718e-08,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
|
||||
4.4000052435981963e-04,-6.8750621041690070e-06,1.6366950904325470e-02,-7.4797317911641460e-08,-4.3741949696467345e-06,1.5577011176483198e-07,-4.9216217591515601e-04,-1.8212725519763330e-06,1.6792269103800023e-02,2.2681109252580009e-07,-4.6570622399488520e-06,1.6227630918883890e-07,-1.6276940492546311e-04,1.2500850714208843e-05,8.3105893039513254e-02,8.1937522295800530e-08,-1.1532494552763742e-04,1.8341376985786889e-08,8.2896380090482651e-06,2.5776271974019400e-06,-1.0384118551878628e-04,-9.0835145186145114e-09,-7.9103822214905618e-07,-8.5884738052552697e-09,-1.1218738592311706e-07,-2.6971824152004114e-08,1.4520308375347979e-06,1.0392390704873920e-10,1.1978860110493637e-08,2.2824480157912701e-10,-1.0750668290601247e-05,-1.5319054792178619e-06,-1.0046689488535483e-04,-1.7368380880582774e-10,7.7832480179501146e-07,-1.6594945529286638e-09,1.8148482652685278e-04,-1.1403580335122602e-06,8.4015550601854047e-02,1.1020596134367576e-07,1.1771277304636398e-04,1.2796740627968473e-07,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
|
||||
3.6700089328994298e-06,2.1007419070983017e-06,-2.2507614142865459e-06,-1.1462974253298323e-06,2.3194359654359551e-07,-2.5095534857133388e-04,1.8036219703654935e-05,2.5545484696192206e-05,1.1871946297445109e-05,-1.6381252890882443e-06,2.1810598507161741e-07,2.5177251691959474e-04,-1.7578159271992778e-05,-1.6998768321436073e-06,5.0911161449586316e-06,-4.8703199072597480e-04,-1.9165620633813443e-07,1.9139117282718920e-09,2.7012543385631668e-06,-5.5791770435657260e-09,3.1880812736881621e-07,6.5918824320239989e-07,3.3913962270503795e-09,5.0829572341789608e-10,-4.1164191882921470e-08,4.6417288010822681e-09,-2.3586505657443102e-09,-4.9069695022575735e-09,-7.3526181970332634e-11,2.8189473468022100e-11,-2.6338255260384415e-06,-1.1967338289737897e-06,-4.6722249982480806e-07,-6.4303711148784267e-07,1.7915568247723615e-09,-4.5480182279923772e-09,-1.0341089437166899e-05,-1.0212703971756771e-05,-1.2999262224332882e-05,4.8182243776653436e-04,-1.2035752233129000e-07,1.5971162742113723e-07,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00
|
||||
1.3106492228986189e-05,-3.5723349268193733e-03,1.6572383417626479e-05,-2.4524528394658456e-04,-1.2883784457938332e-07,1.3929093978201961e-06,-2.0053507774652502e-06,3.5728283551551688e-03,1.1824141280798525e-05,-2.4569778440730589e-04,8.1551244794981474e-08,-1.3764616335374010e-06,-1.5481986761443345e-05,-1.9044813141402933e-06,7.4544369185691846e-06,-4.4752055263868424e-04,-1.8068106002131866e-07,2.4370502902649210e-08,2.5687112618053921e-06,4.1655314389244600e-08,3.4122220147010140e-07,6.2083014580506038e-07,3.3940992746034015e-09,3.0044442082434653e-10,-7.1708411131971589e-08,-5.1027076387319601e-09,-6.2175221737627398e-09,-9.7248995910835063e-09,-4.6159749121076536e-11,-3.9694148835885484e-11,2.6170179656636316e-06,1.1901652322187288e-06,4.4732338266589198e-07,6.1967397606540059e-07,-1.7074057077706677e-09,4.5938289091603020e-09,8.6144457711177801e-06,1.7922379514314945e-05,1.6394035147424517e-05,-4.5310817532855151e-04,1.0946019552401556e-07,-1.6079171905942081e-07,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00
|
||||
|
@ -1,75 +0,0 @@
|
||||
|
||||
LIST ALL SELECTED NODES. DSYS= 0
|
||||
|
||||
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
|
||||
DISTRIBUTED ANSYS Academic Research
|
||||
|
||||
00208316 VERSION=WINDOWS x64 15:24:46 NOV 18, 2020 CP= 2.031
|
||||
|
||||
Piezo-APA95ML-3DElm--Modal (A5)
|
||||
|
||||
|
||||
|
||||
NODE X Y Z THXY THYZ THZX
|
||||
40467 0.0000 0.0000 0.29997E-001 0.00 0.00 0.00
|
||||
40469 0.0000 0.0000 -0.29997E-001 0.00 0.00 0.00
|
||||
40470 -0.35000E-001 0.0000 0.0000 0.00 0.00 0.00
|
||||
40475 -0.15000E-001 0.0000 0.0000 0.00 0.00 0.00
|
||||
40476 -0.50000E-002 0.0000 0.0000 0.00 0.00 0.00
|
||||
40477 0.15000E-001 0.0000 0.0000 0.00 0.00 0.00
|
||||
40478 0.35000E-001 0.0000 0.0000 0.00 0.00 0.00
|
||||
|
||||
LIST MASTERS ON ALL SELECTED NODES.
|
||||
CURRENT DOF SET= UX UY UZ ROTX ROTY ROTZ
|
||||
|
||||
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
|
||||
DISTRIBUTED ANSYS Academic Research
|
||||
|
||||
00208316 VERSION=WINDOWS x64 15:24:46 NOV 18, 2020 CP= 2.156
|
||||
|
||||
Piezo-APA95ML-3DElm--Modal (A5)
|
||||
|
||||
|
||||
NODE LABEL SUPPORT
|
||||
40467 UX
|
||||
40467 UY
|
||||
40467 UZ
|
||||
40467 ROTX
|
||||
40467 ROTY
|
||||
40467 ROTZ
|
||||
40469 UX
|
||||
40469 UY
|
||||
40469 UZ
|
||||
40469 ROTX
|
||||
40469 ROTY
|
||||
40469 ROTZ
|
||||
40470 UX
|
||||
40470 UY
|
||||
40470 UZ
|
||||
40470 ROTX
|
||||
40470 ROTY
|
||||
40470 ROTZ
|
||||
40475 UX
|
||||
40475 UY
|
||||
40475 UZ
|
||||
40475 ROTX
|
||||
40475 ROTY
|
||||
40475 ROTZ
|
||||
40476 UX
|
||||
40476 UY
|
||||
40476 UZ
|
||||
40476 ROTX
|
||||
40476 ROTY
|
||||
40476 ROTZ
|
||||
40477 UX
|
||||
40477 UY
|
||||
40477 UZ
|
||||
40477 ROTX
|
||||
40477 ROTY
|
||||
40477 ROTZ
|
||||
40478 UX
|
||||
40478 UY
|
||||
40478 UZ
|
||||
40478 ROTX
|
||||
40478 ROTY
|
||||
40478 ROTZ
|
||||
BIN
matlab/mat/G_force_sensor_5kg.mat
Normal file
BIN
matlab/mat/G_force_sensor_5kg.mat
Normal file
Binary file not shown.
Binary file not shown.
BIN
matlab/mat/fem_model_5kg.mat
Normal file
BIN
matlab/mat/fem_model_5kg.mat
Normal file
Binary file not shown.
BIN
matlab/mat/fem_model_Gf_5kg.mat
Normal file
BIN
matlab/mat/fem_model_Gf_5kg.mat
Normal file
Binary file not shown.
Binary file not shown.
@ -1,100 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data
|
||||
% The data from the "noise test" and the identification test are loaded.
|
||||
|
||||
ht = load('huddle_test.mat', 't', 'y');
|
||||
load('apa95ml_5kg_Amp_E505.mat', 't', 'um', 'y');
|
||||
|
||||
|
||||
|
||||
% Any offset value is removed:
|
||||
|
||||
um = detrend(um, 0); % Generated DAC Voltage [V]
|
||||
y = detrend(y , 0); % Mass displacement [m]
|
||||
|
||||
ht.y = detrend(ht.y, 0);
|
||||
|
||||
|
||||
|
||||
% Now we add a factor 10 to take into account the gain of the voltage amplifier.
|
||||
|
||||
Va = 10*um;
|
||||
|
||||
% Comparison of the PSD with Huddle Test
|
||||
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hanning(ceil(1*Fs));
|
||||
|
||||
[pxx, f] = pwelch(y, win, [], [], Fs);
|
||||
[pht, ~] = pwelch(ht.y, win, [], [], Fs);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, sqrt(pxx), 'DisplayName', '5kg');
|
||||
plot(f, sqrt(pht), 'DisplayName', 'Huddle Test');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
|
||||
legend('location', 'northeast');
|
||||
xlim([1, Fs/2]);
|
||||
|
||||
% Compute TF estimate and Coherence
|
||||
|
||||
[tf_est, f] = tfestimate(Va, -y, win, [], [], 1/Ts);
|
||||
[co_est, ~] = mscohere( Va, -y, win, [], [], 1/Ts);
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, co_est, 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([10, 5e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:apa95ml_5kg_PI_coh
|
||||
% #+caption: Coherence
|
||||
% #+RESULTS:
|
||||
% [[file:figs/apa95ml_5kg_PI_coh.png]]
|
||||
|
||||
% Comparison with the FEM model
|
||||
|
||||
load('mat/fem_simscape_models.mat', 'Ghm');
|
||||
|
||||
freqs = logspace(0, 4, 1000);
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'DisplayName', 'Identification')
|
||||
plot(freqs, abs(squeeze(freqresp(Ghm, freqs, 'Hz'))), 'DisplayName', 'FEM')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [m/V]'); set(gca, 'XTickLabel', []);
|
||||
legend('location', 'northeast')
|
||||
hold off;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_est))
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Ghm, freqs, 'Hz'))))
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks(-180:90:180);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5e3]);
|
||||
Binary file not shown.
@ -1,317 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Estimation from Data-sheet
|
||||
% <<sec:estimation_datasheet>>
|
||||
|
||||
% The stack parameters taken from the data-sheet are shown in Table [[tab:stack_parameters]].
|
||||
|
||||
% #+name: tab:stack_parameters
|
||||
% #+caption: Stack Parameters
|
||||
% | Parameter | Unit | Value |
|
||||
% |----------------+-----------+----------|
|
||||
% | Nominal Stroke | $\mu m$ | 20 |
|
||||
% | Blocked force | $N$ | 4700 |
|
||||
% | Stiffness | $N/\mu m$ | 235 |
|
||||
% | Voltage Range | $V$ | -20..150 |
|
||||
% | Capacitance | $\mu F$ | 4.4 |
|
||||
% | Length | $mm$ | 20 |
|
||||
% | Stack Area | $mm^2$ | 10x10 |
|
||||
|
||||
% Let's compute the generated force
|
||||
|
||||
% The stroke is $L_{\max} = 20\mu m$ for a voltage range of $V_{\max} = 170 V$.
|
||||
% Furthermore, the stiffness is $k_a = 235 \cdot 10^6 N/m$.
|
||||
|
||||
% The relation between the applied voltage and the generated force can be estimated as follows:
|
||||
% \begin{equation}
|
||||
% g_a = k_a \frac{L_{\max}}{V_{\max}}
|
||||
% \end{equation}
|
||||
|
||||
|
||||
ka = 235e6; % [N/m]
|
||||
Lmax = 20e-6; % [m]
|
||||
Vmax = 170; % [V]
|
||||
|
||||
ga = ka*Lmax/Vmax; % [N/V]
|
||||
|
||||
% Estimation from Piezoelectric parameters
|
||||
% <<sec:estimation_piezo_params>>
|
||||
|
||||
% In order to make the conversion from applied voltage to generated force or from the strain to the generated voltage, we need to defined some parameters corresponding to the piezoelectric material:
|
||||
|
||||
d33 = 300e-12; % Strain constant [m/V]
|
||||
n = 80; % Number of layers per stack
|
||||
ka = 235e6; % Stack stiffness [N/m]
|
||||
|
||||
|
||||
|
||||
% The ratio of the developed force to applied voltage is:
|
||||
% #+name: eq:piezo_voltage_to_force
|
||||
% \begin{equation}
|
||||
% F_a = g_a V_a, \quad g_a = d_{33} n k_a
|
||||
% \end{equation}
|
||||
% where:
|
||||
% - $F_a$: developed force in [N]
|
||||
% - $n$: number of layers of the actuator stack
|
||||
% - $d_{33}$: strain constant in [m/V]
|
||||
% - $k_a$: actuator stack stiffness in [N/m]
|
||||
% - $V_a$: applied voltage in [V]
|
||||
|
||||
% If we take the numerical values, we obtain:
|
||||
|
||||
ga = d33*n*ka; % [N/V]
|
||||
|
||||
|
||||
|
||||
% #+RESULTS:
|
||||
% : ga = 5.6 [N/V]
|
||||
|
||||
|
||||
% From cite:fleming14_desig_model_contr_nanop_system (page 123), the relation between relative displacement of the sensor stack and generated voltage is:
|
||||
% #+name: eq:piezo_strain_to_voltage
|
||||
% \begin{equation}
|
||||
% V_s = \frac{d_{33}}{\epsilon^T s^D n} \Delta h
|
||||
% \end{equation}
|
||||
% where:
|
||||
% - $V_s$: measured voltage in [V]
|
||||
% - $d_{33}$: strain constant in [m/V]
|
||||
% - $\epsilon^T$: permittivity under constant stress in [F/m]
|
||||
% - $s^D$: elastic compliance under constant electric displacement in [m^2/N]
|
||||
% - $n$: number of layers of the sensor stack
|
||||
% - $\Delta h$: relative displacement in [m]
|
||||
|
||||
% If we take the numerical values, we obtain:
|
||||
|
||||
d33 = 300e-12; % Strain constant [m/V]
|
||||
n = 80; % Number of layers per stack
|
||||
eT = 5.3e-9; % Permittivity under constant stress [F/m]
|
||||
sD = 2e-11; % Compliance under constant electric displacement [m2/N]
|
||||
|
||||
gs = d33/(eT*sD*n); % [V/m]
|
||||
|
||||
% From actuator voltage $V_a$ to actuator force $F_a$
|
||||
% The data from the identification test is loaded.
|
||||
|
||||
load('apa95ml_5kg_Amp_E505.mat', 't', 'um', 'y');
|
||||
|
||||
% Any offset value is removed:
|
||||
um = detrend(um, 0); % Amplifier Input Voltage [V]
|
||||
y = detrend(y , 0); % Mass displacement [m]
|
||||
|
||||
|
||||
|
||||
% Now we add a factor 10 to take into account the gain of the voltage amplifier and thus obtain the voltage across the piezoelectric stack.
|
||||
|
||||
um = 10*um; % Stack Actuator Input Voltage [V]
|
||||
|
||||
|
||||
|
||||
% Then, the transfer function from the stack voltage to the vertical displacement is computed.
|
||||
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hanning(ceil(1*Fs));
|
||||
|
||||
[tf_est, f] = tfestimate(um, y, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The gain from input voltage of the stack to the vertical displacement is determined:
|
||||
|
||||
g_d_Va = 4e-7; % [m/V]
|
||||
|
||||
freqs = logspace(0, 4, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'DisplayName', 'Identification')
|
||||
plot([f(2) f(end)], [g_d_Va g_d_Va], '--', 'DisplayName', sprintf('$d/V_a \\approx %.0g\\ m/V$', g_d_Va))
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Amplitude $d/V_a$ [m/V]');
|
||||
xlim([10, 5e3]); ylim([1e-8, 1e-5]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
|
||||
|
||||
% #+name: fig:gain_Va_to_d
|
||||
% #+caption: Transfer function from actuator stack voltage $V_a$ to vertical displacement of the mass $d$
|
||||
% #+RESULTS:
|
||||
% [[file:figs/gain_Va_to_d.png]]
|
||||
|
||||
% Then, the transfer function from forces applied by the stack actuator to the vertical displacement of the mass is identified from the Simscape model.
|
||||
|
||||
% Load Parameters
|
||||
K = readmatrix('APA95ML_K.CSV');
|
||||
M = readmatrix('APA95ML_M.CSV');
|
||||
[int_xyz, int_i, n_xyz, n_i, nodes] = extractNodes('APA95ML_out_nodes_3D.txt');
|
||||
|
||||
% Define parameters just for the simulation
|
||||
ga = 1; % [N/V]
|
||||
gs = 1; % [V/m]
|
||||
|
||||
m = 5.5;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'piezo_amplified_3d';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fa'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force [N]
|
||||
io(io_i) = linio([mdl, '/y'], 1, 'openoutput'); io_i = io_i + 1; % Vertical Displacement [m]
|
||||
|
||||
Gd = linearize(mdl, io);
|
||||
|
||||
|
||||
|
||||
% The DC gain the the identified dynamics
|
||||
|
||||
g_d_Fa = abs(dcgain(Gd)); % [m/N]
|
||||
|
||||
|
||||
|
||||
% #+RESULTS:
|
||||
% : G_d_Fa = 1.2e-08 [m/N]
|
||||
|
||||
|
||||
% And finally, the gain $g_a$ from the the actuator voltage $V_a$ to the generated force $F_a$ can be computed:
|
||||
% \begin{equation}
|
||||
% g_a = \frac{F_a}{V_a} = \frac{F_a}{d} \frac{d}{V_a}
|
||||
% \end{equation}
|
||||
|
||||
|
||||
ga = g_d_Va/g_d_Fa;
|
||||
|
||||
|
||||
|
||||
% #+RESULTS:
|
||||
% : ga = 33.7 [N/V]
|
||||
|
||||
% The obtained comparison between the Simscape model and the identified dynamics is shown in Figure [[fig:compare_Gd_id_simscape]].
|
||||
|
||||
|
||||
freqs = logspace(1, 4, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'DisplayName', 'Identification')
|
||||
plot(f, ga*abs(squeeze(freqresp(Gd, f, 'Hz'))), 'DisplayName', 'Simscape Model')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude $d/V_a$ [m/V]'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([1, 5e3]); ylim([1e-9, 1e-5]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
% From stack strain $\Delta h$ to generated voltage $V_s$
|
||||
% Now, the gain from the stack strain $\Delta h$ to the generated voltage $V_s$ is estimated.
|
||||
|
||||
% We can determine the gain from actuator voltage $V_a$ to sensor voltage $V_s$ thanks to the identification.
|
||||
% Using the simscape model, we can have the transfer function from the actuator voltage $V_a$ (using the previously estimated gain $g_a$) to the sensor stack strain $\Delta h$.
|
||||
|
||||
% Finally, using these two values, we can compute the gain $g_s$ from the stack strain $\Delta h$ to the generated Voltage $V_s$.
|
||||
|
||||
% Identification data is loaded.
|
||||
|
||||
load('apa95ml_5kg_2a_1s.mat', 't', 'u', 'v');
|
||||
|
||||
u = detrend(u, 0); % Input Voltage of the Amplifier [V]
|
||||
v = detrend(v, 0); % Voltage accross the stack sensor [V]
|
||||
|
||||
|
||||
|
||||
% Here, an amplifier with a gain of 20 is used.
|
||||
|
||||
u = 20*u; % Input Voltage of the Amplifier [V]
|
||||
|
||||
|
||||
|
||||
% Then, the transfer function from $V_a$ to $V_s$ is identified and its DC gain is estimated (Figure [[fig:gain_Va_to_Vs]]).
|
||||
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_est, f] = tfestimate(u, v, win, [], [], 1/Ts);
|
||||
|
||||
g_Vs_Va = 0.022; % [V/V]
|
||||
|
||||
freqs = logspace(1, 4, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'DisplayName', 'Identification')
|
||||
plot([f(2); f(end)], [g_Vs_Va; g_Vs_Va], '--', 'DisplayName', sprintf('$V_s/V_a \\approx %.0g\\ m/V$', g_Vs_Va))
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude $V_s/V_a$ [V/V]'); xlabel('Frequency [Hz]');
|
||||
xlim([5e-1 5e3]); ylim([1e-3, 1e1]);
|
||||
legend('location', 'northwest');
|
||||
|
||||
|
||||
|
||||
% #+name: fig:gain_Va_to_Vs
|
||||
% #+caption: Transfer function from actuator stack voltage $V_a$ to sensor stack voltage $V_s$
|
||||
% #+RESULTS:
|
||||
% [[file:figs/gain_Va_to_Vs.png]]
|
||||
|
||||
|
||||
% Now the transfer function from the actuator stack voltage to the sensor stack strain is estimated using the Simscape model.
|
||||
|
||||
m = 5.5;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'piezo_amplified_3d';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage [V]
|
||||
io(io_i) = linio([mdl, '/dL'], 1, 'openoutput'); io_i = io_i + 1; % Sensor Stack displacement [m]
|
||||
|
||||
Gf = linearize(mdl, io);
|
||||
|
||||
|
||||
|
||||
% The gain from the actuator stack voltage to the sensor stack strain is estimated below.
|
||||
|
||||
G_dh_Va = abs(dcgain(Gf));
|
||||
|
||||
|
||||
|
||||
% #+RESULTS:
|
||||
% : G_dh_Va = 6.2e-09 [m/V]
|
||||
|
||||
% And finally, the gain $g_s$ from the sensor stack strain to the generated voltage can be estimated:
|
||||
% \begin{equation}
|
||||
% g_s = \frac{V_s}{\Delta h} = \frac{V_s}{V_a} \frac{V_a}{\Delta h}
|
||||
% \end{equation}
|
||||
|
||||
|
||||
gs = g_Vs_Va/G_dh_Va; % [V/m]
|
||||
|
||||
|
||||
|
||||
% #+RESULTS:
|
||||
% : gs = 3.5 [V/um]
|
||||
|
||||
|
||||
freqs = logspace(1, 4, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'DisplayName', 'Identification')
|
||||
plot(f, gs*abs(squeeze(freqresp(Gf, f, 'Hz'))), 'DisplayName', 'Simscape Model')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude $V_s/V_a$ [V/V]'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([1, 5e3]); ylim([1e-3, 1e1]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
save('./mat/apa95ml_params.mat', 'ga', 'gs');
|
||||
@ -1,120 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Import Mass Matrix, Stiffness Matrix, and Interface Nodes Coordinates
|
||||
% We first extract the stiffness and mass matrices.
|
||||
|
||||
K = readmatrix('APA95ML_K.CSV');
|
||||
M = readmatrix('APA95ML_M.CSV');
|
||||
|
||||
|
||||
|
||||
% #+caption: First 10x10 elements of the Mass matrix
|
||||
% #+RESULTS:
|
||||
% | 0.03 | 7e-08 | 2e-06 | -3e-09 | -0.0002 | -6e-08 | -0.001 | 8e-07 | 6e-07 | -8e-09 |
|
||||
% | 7e-08 | 0.02 | -1e-06 | 9e-05 | -3e-09 | -4e-09 | -1e-06 | -0.0006 | -4e-08 | 5e-06 |
|
||||
% | 2e-06 | -1e-06 | 0.02 | -3e-08 | -4e-08 | 1e-08 | 1e-07 | -2e-07 | 0.0003 | 1e-09 |
|
||||
% | -3e-09 | 9e-05 | -3e-08 | 1e-06 | -3e-11 | -3e-13 | -7e-09 | -5e-06 | -3e-10 | 3e-08 |
|
||||
% | -0.0002 | -3e-09 | -4e-08 | -3e-11 | 2e-06 | 6e-10 | 2e-06 | -7e-09 | -2e-09 | 7e-11 |
|
||||
% | -6e-08 | -4e-09 | 1e-08 | -3e-13 | 6e-10 | 1e-06 | 1e-08 | 3e-09 | -2e-09 | 2e-13 |
|
||||
% | -0.001 | -1e-06 | 1e-07 | -7e-09 | 2e-06 | 1e-08 | 0.03 | 4e-08 | -2e-06 | 8e-09 |
|
||||
% | 8e-07 | -0.0006 | -2e-07 | -5e-06 | -7e-09 | 3e-09 | 4e-08 | 0.02 | -9e-07 | -9e-05 |
|
||||
% | 6e-07 | -4e-08 | 0.0003 | -3e-10 | -2e-09 | -2e-09 | -2e-06 | -9e-07 | 0.02 | 2e-08 |
|
||||
% | -8e-09 | 5e-06 | 1e-09 | 3e-08 | 7e-11 | 2e-13 | 8e-09 | -9e-05 | 2e-08 | 1e-06 |
|
||||
|
||||
% Then, we extract the coordinates of the interface nodes.
|
||||
|
||||
[int_xyz, int_i, n_xyz, n_i, nodes] = extractNodes('APA95ML_out_nodes_3D.txt');
|
||||
|
||||
% Simscape Model
|
||||
% The flexible element is imported using the =Reduced Order Flexible Solid= Simscape block.
|
||||
|
||||
% To model the actuator, an =Internal Force= block is added between the nodes 3 and 12.
|
||||
% A =Relative Motion Sensor= block is added between the nodes 1 and 2 to measure the displacement and the amplified piezo.
|
||||
|
||||
% One mass is fixed at one end of the piezo-electric stack actuator, the other end is fixed to the world frame.
|
||||
|
||||
m = 5.5;
|
||||
|
||||
load('apa95ml_params.mat', 'ga', 'gs');
|
||||
|
||||
% Dynamics from Actuator Voltage to Vertical Mass Displacement
|
||||
% The identified dynamics is shown in Figure [[fig:dynamics_act_disp_comp_mass]].
|
||||
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'piezo_amplified_3d';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage [V]
|
||||
io(io_i) = linio([mdl, '/y'], 1, 'openoutput'); io_i = io_i + 1; % Vertical Displacement [m]
|
||||
|
||||
Ghm = linearize(mdl, io);
|
||||
|
||||
freqs = logspace(0, 4, 5000);
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Ghm, freqs, 'Hz'))));
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude $d/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Ghm, freqs, 'Hz')))));
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
yticks(-360:90:360);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
% Dynamics from Actuator Voltage to Force Sensor Voltage
|
||||
% The obtained dynamics is shown in Figure [[fig:dynamics_force_force_sensor_comp_mass]].
|
||||
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'piezo_amplified_3d';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Voltage Actuator [V]
|
||||
io(io_i) = linio([mdl, '/Vs'], 1, 'openoutput'); io_i = io_i + 1; % Sensor Voltage [V]
|
||||
|
||||
Gfm = linearize(mdl, io);
|
||||
|
||||
freqs = logspace(1, 5, 1000);
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Gfm, freqs, 'Hz'))));
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gfm, freqs, 'Hz')))));
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
yticks(-360:90:360); ylim([-360, 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
save('mat/fem_simscape_models.mat', 'Ghm', 'Gfm')
|
||||
Loading…
Reference in New Issue
Block a user