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Tuned the misalignment of the APA/flexible joints to fit the measured FRF
This commit is contained in:
Thomas Dehaeze
2021-06-16 19:33:39 +02:00
parent 8cf4f44cfb
commit ab0b406d3b
96 changed files with 14527 additions and 7017 deletions
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matlab/mat/meas_apa_frf.mat Normal file
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matlab/mat/meas_struts_frf.mat Normal file
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5
matlab/src/initializeAPA.m
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@@ -12,6 +12,7 @@ function [actuator] = initializeAPA(args)
arguments
args.type char {mustBeMember(args.type,{'2dof', 'flexible frame', 'flexible'})} = '2dof'
% Actuator and Sensor constants
args.Ga (1,1) double {mustBeNumeric} = 0
args.Gs (1,1) double {mustBeNumeric} = 0
@@ -27,7 +28,8 @@ arguments
args.Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056
% Force Flexible APA
args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.5
args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.01
args.d_align (3,1) double {mustBeNumeric} = zeros(3,1) % [m]
% For Flexible Frame
args.ks (1,1) double {mustBeNumeric, mustBePositive} = 235e6
@@ -90,6 +92,7 @@ switch args.type
actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
actuator.d_align = args.d_align;
end
actuator.xi = args.xi; % Damping ratio

10
matlab/src/initializeBotFlexibleJoint.m
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@@ -15,12 +15,12 @@ arguments
args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*7e7
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
end
flex_bot = struct();

10
matlab/src/initializeTopFlexibleJoint.m
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@@ -15,12 +15,12 @@ arguments
args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*7e7
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
end
flex_top = struct();

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matlab/test_bench_struts.slx
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