Compute sensor/actuator constants
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@ -27,7 +27,7 @@ V_noise = generateShapedNoise('Ts', 1/Fs, ...
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%% Sweep Sine
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gc = 0.1;
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xi = 0.5;
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wn = 2*pi*92.7;
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wn = 2*pi*94.3;
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% Notch filter at the resonance of the APA
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G_sweep = 0.2*(s^2 + 2*gc*xi*wn*s + wn^2)/(s^2 + 2*xi*wn*s + wn^2);
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@ -41,15 +41,6 @@ V_sweep = generateSweepExc('Ts', Ts, ...
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'sweep_type', 'log', ...
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'V_exc', G_sweep*1/(1 + s/2/pi/500));
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V_sweep_lf = generateSweepExc('Ts', Ts, ...
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'f_start', 0.1, ...
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'f_end', 10, ...
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'V_mean', 3.25, ...
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't_start', Trec_start, ...
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'exc_duration', Trec_dur, ...
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'sweep_type', 'log', ...
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'V_exc', 0.2);
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%% High Frequency Shaped Noise
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[b,a] = cheby1(10, 2, 2*pi*[300 2e3], 'bandpass', 's');
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wL = 0.005*tf(b, a);
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@ -70,19 +61,6 @@ V_sin = generateSinIncreasingAmpl('Ts', 1/Fs, ...
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't_start', Trec_start, ...
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'smooth_ends', true);
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%% Zero Excitation
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% Trec_start = 10; % Start time for Recording [s]
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% Trec_dur = 40; % Recording Duration [s]
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%
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% Tsim = 2*Trec_start + Trec_dur; % Simulation Time [s]
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V_zero = generateShapedNoise('Ts', 1/Fs, ...
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'V_mean', 3.25, ...
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't_start', Trec_start, ...
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'exc_duration', Trec_dur, ...
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'smooth_ends', true, ...
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'V_exc', tf(0));
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%% Select the excitation signal
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V_exc = timeseries(V_noise(2,:), V_noise(1,:));
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@ -91,12 +69,12 @@ figure;
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tiledlayout(1, 2, 'TileSpacing', 'Normal', 'Padding', 'None');
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ax1 = nexttile;
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plot(V_exc.Time, squeeze(V_exc.Data));
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plot(V_exc(1,:), V_exc(2,:));
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xlabel('Time [s]'); ylabel('Amplitude [V]');
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ax2 = nexttile;
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win = hanning(floor(length(squeeze(V_exc.Data))/8));
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[pxx, f] = pwelch(squeeze(V_exc.Data), win, 0, [], Fs);
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win = hanning(floor(length(V_exc)/8));
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[pxx, f] = pwelch(V_exc(2,:), win, 0, [], Fs);
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plot(f, pxx)
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xlabel('Frequency [Hz]'); ylabel('Power Spectral Density [$V^2/Hz$]');
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set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
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matlab/mat/full_APA300ML_K.CSV
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matlab/mat/full_APA300ML_K.CSV
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36
matlab/mat/full_APA300ML_M.CSV
Normal file
36
matlab/mat/full_APA300ML_M.CSV
Normal file
@ -0,0 +1,36 @@
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|
||||
1.2392503509052711e-02,-1.3743410251703281e-07,-2.5513651731172409e-02,-1.7688582760618006e-09,-3.2518160080507547e-04,-8.3345933502319242e-07,1.3339549888966882e-02,1.6739977008106364e-07,2.7809119115105248e-02,-3.8359469805443676e-08,3.5179661055869099e-04,2.2514785285960931e-07,-3.9339196972392070e-02,-1.0354996039260608e-05,2.2225778688082982e-03,1.1829265269312945e-07,1.1305939844471519e-05,3.3876137309898650e-08,-7.6970165626223539e-15,-1.6844224714733814e-14,-2.4443150616442523e-15,6.5520581181426056e-17,1.7542881376587629e-18,-5.7499315552852813e-17,2.3919535133556782e-02,1.1528043443648827e-05,1.0323207797784809e-03,-1.2727795977359786e-07,-6.9731489837877039e-06,2.9607839458613745e-09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
|
||||
-1.5877997525629387e-05,-1.4825615960744499e-03,-1.3684696973552163e-05,-1.2250482029118142e-04,2.0333629489585635e-07,-6.7368153553254133e-05,-6.9763994143242040e-06,1.7046317853673409e-03,3.0822636920965325e-08,-1.3503500869595041e-04,-1.3154249441709622e-07,7.4155141157064021e-05,1.3723632457380850e-06,2.1256445770437125e-04,-6.6920089040385829e-06,1.3338369972974633e-04,-1.0440932326420343e-07,2.5893198656537459e-07,-2.4258848831309949e-12,-2.1109127182877665e-12,1.0511624056904027e-12,1.0055631250783132e-14,1.1918708608799692e-15,-6.8917232252527251e-15,3.0804109352445127e-05,-3.4886283215487736e-04,7.1066892489960303e-06,-4.0087268452467515e-04,1.6791991440856165e-07,5.8192164593301554e-06,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00
|
||||
-4.6812045940282448e-06,-3.1025104691272919e-03,-1.5377698713734422e-05,-1.6353201310745618e-04,2.5623725204854869e-08,-1.0685663395275263e-04,7.6080554131145197e-06,-2.9982630133594734e-03,-6.8311288952693023e-07,1.5652172827044340e-04,1.4050703116567984e-07,-1.0149600219414910e-04,-2.2532949574989803e-05,-6.4121834046156857e-03,-3.5374676331005905e-06,6.6709676252477444e-06,-3.8462217010480574e-08,-2.6782154632106800e-05,5.4339287700903742e-12,4.4210887013055602e-12,-5.0324569727524429e-12,-8.2525429972158425e-15,-7.6662395153113809e-16,7.6185318466825709e-15,2.3913388184361028e-05,1.0855537718400844e-02,2.5591847524782320e-06,-1.3726013554048109e-05,1.7732917063774981e-07,-1.5917184658560470e-04,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00
|
||||
|
61
matlab/mat/full_APA300ML_out_nodes_3D.txt
Normal file
61
matlab/mat/full_APA300ML_out_nodes_3D.txt
Normal file
@ -0,0 +1,61 @@
|
||||
|
||||
LIST ALL SELECTED NODES. DSYS= 0
|
||||
|
||||
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
|
||||
DISTRIBUTED ANSYS Mechanical Enterprise
|
||||
|
||||
00208316 VERSION=WINDOWS x64 10:10:05 MAR 26, 2021 CP= 2.188
|
||||
|
||||
Unknown
|
||||
|
||||
|
||||
|
||||
NODE X Y Z THXY THYZ THZX
|
||||
1 0.0000 0.0000 0.28000E-001 0.00 0.00 0.00
|
||||
1228810 0.0000 0.0000 -0.28000E-001 0.00 0.00 0.00
|
||||
1228811 -0.30000E-001 0.0000 0.0000 0.00 0.00 0.00
|
||||
1228812 0.10000E-001 0.0000 0.0000 0.00 0.00 0.00
|
||||
1228813 0.30000E-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 Mechanical Enterprise
|
||||
|
||||
00208316 VERSION=WINDOWS x64 10:10:05 MAR 26, 2021 CP= 2.188
|
||||
|
||||
Unknown
|
||||
|
||||
|
||||
NODE LABEL SUPPORT
|
||||
1 UX
|
||||
1 UY
|
||||
1 UZ
|
||||
1 ROTX
|
||||
1 ROTY
|
||||
1 ROTZ
|
||||
1228810 UX
|
||||
1228810 UY
|
||||
1228810 UZ
|
||||
1228810 ROTX
|
||||
1228810 ROTY
|
||||
1228810 ROTZ
|
||||
1228811 UX
|
||||
1228811 UY
|
||||
1228811 UZ
|
||||
1228811 ROTX
|
||||
1228811 ROTY
|
||||
1228811 ROTZ
|
||||
1228812 UX
|
||||
1228812 UY
|
||||
1228812 UZ
|
||||
1228812 ROTX
|
||||
1228812 ROTY
|
||||
1228812 ROTZ
|
||||
1228813 UX
|
||||
1228813 UY
|
||||
1228813 UZ
|
||||
1228813 ROTX
|
||||
1228813 ROTY
|
||||
1228813 ROTZ
|
||||
98
matlab/src/initializeAPA.m
Normal file
98
matlab/src/initializeAPA.m
Normal file
@ -0,0 +1,98 @@
|
||||
function [actuator] = initializeAPA(args)
|
||||
% initializeAPA -
|
||||
%
|
||||
% Syntax: [actuator] = initializeAPA(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args -
|
||||
%
|
||||
% Outputs:
|
||||
% - actuator -
|
||||
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'2dof', 'flexible frame', 'flexible'})} = '2dof'
|
||||
|
||||
args.Ga (1,1) double {mustBeNumeric} = 0
|
||||
args.Gs (1,1) double {mustBeNumeric} = 0
|
||||
|
||||
% For 2DoF
|
||||
args.k (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.35e6
|
||||
args.ke (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1.5e6
|
||||
args.ka (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*43e6
|
||||
|
||||
args.c (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*3e1
|
||||
args.ce (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
|
||||
args.ca (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
|
||||
|
||||
args.Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056
|
||||
|
||||
% Force Flexible APA
|
||||
args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.5
|
||||
|
||||
% For Flexible Frame
|
||||
args.ks (1,1) double {mustBeNumeric, mustBePositive} = 235e6
|
||||
args.cs (1,1) double {mustBeNumeric, mustBePositive} = 1e1
|
||||
end
|
||||
|
||||
actuator = struct();
|
||||
|
||||
switch args.type
|
||||
case '2dof'
|
||||
actuator.type = 1;
|
||||
case 'flexible frame'
|
||||
actuator.type = 2;
|
||||
case 'flexible'
|
||||
actuator.type = 3;
|
||||
end
|
||||
|
||||
if args.Ga == 0
|
||||
switch args.type
|
||||
case '2dof'
|
||||
actuator.Ga = -46.4;
|
||||
case 'flexible frame'
|
||||
actuator.Ga = 1; % TODO
|
||||
case 'flexible'
|
||||
actuator.Ga = 23.4;
|
||||
end
|
||||
else
|
||||
actuator.Ga = args.Ga; % Actuator gain [N/V]
|
||||
end
|
||||
|
||||
if args.Gs == 0
|
||||
switch args.type
|
||||
case '2dof'
|
||||
actuator.Gs = 0.098;
|
||||
case 'flexible frame'
|
||||
actuator.Gs = 1; % TODO
|
||||
case 'flexible'
|
||||
actuator.Gs = -4674824;
|
||||
end
|
||||
else
|
||||
actuator.Gs = args.Gs; % Sensor gain [V/m]
|
||||
end
|
||||
|
||||
actuator.k = args.k; % [N/m]
|
||||
actuator.ke = args.ke; % [N/m]
|
||||
actuator.ka = args.ka; % [N/m]
|
||||
|
||||
actuator.c = args.c; % [N/(m/s)]
|
||||
actuator.ce = args.ce; % [N/(m/s)]
|
||||
actuator.ca = args.ca; % [N/(m/s)]
|
||||
|
||||
actuator.Leq = args.Leq; % [m]
|
||||
|
||||
switch args.type
|
||||
case 'flexible frame'
|
||||
actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
|
||||
actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
|
||||
actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
|
||||
case 'flexible'
|
||||
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]
|
||||
end
|
||||
|
||||
actuator.xi = args.xi; % Damping ratio
|
||||
|
||||
actuator.ks = args.ks; % Stiffness of one stack [N/m]
|
||||
actuator.cs = args.cs; % Damping of one stack [N/m]
|
||||
45
matlab/src/initializeBotFlexibleJoint.m
Normal file
45
matlab/src/initializeBotFlexibleJoint.m
Normal file
@ -0,0 +1,45 @@
|
||||
function [flex_bot] = initializeBotFlexibleJoint(args)
|
||||
% initializeBotFlexibleJoint -
|
||||
%
|
||||
% Syntax: [flex_bot] = initializeBotFlexibleJoint(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args -
|
||||
%
|
||||
% Outputs:
|
||||
% - flex_bot -
|
||||
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'2dof', '3dof', '4dof'})} = '2dof'
|
||||
|
||||
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.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
|
||||
end
|
||||
|
||||
flex_bot = struct();
|
||||
|
||||
switch args.type
|
||||
case '2dof'
|
||||
flex_bot.type = 1;
|
||||
case '3dof'
|
||||
flex_bot.type = 2;
|
||||
case '4dof'
|
||||
flex_bot.type = 3;
|
||||
end
|
||||
|
||||
flex_bot.kRx = args.kRx;
|
||||
flex_bot.kRy = args.kRy;
|
||||
flex_bot.kRz = args.kRz;
|
||||
flex_bot.kz = args.kz;
|
||||
|
||||
flex_bot.cRx = args.cRx;
|
||||
flex_bot.cRy = args.cRy;
|
||||
flex_bot.cRz = args.cRz;
|
||||
flex_bot.cz = args.cz;
|
||||
45
matlab/src/initializeTopFlexibleJoint.m
Normal file
45
matlab/src/initializeTopFlexibleJoint.m
Normal file
@ -0,0 +1,45 @@
|
||||
function [flex_top] = initializeTopFlexibleJoint(args)
|
||||
% initializeTopFlexibleJoint -
|
||||
%
|
||||
% Syntax: [flex_top] = initializeTopFlexibleJoint(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args -
|
||||
%
|
||||
% Outputs:
|
||||
% - flex_top -
|
||||
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'2dof', '3dof', '4dof'})} = '2dof'
|
||||
|
||||
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.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
|
||||
end
|
||||
|
||||
flex_top = struct();
|
||||
|
||||
switch args.type
|
||||
case '2dof'
|
||||
flex_top.type = 1;
|
||||
case '3dof'
|
||||
flex_top.type = 2;
|
||||
case '4dof'
|
||||
flex_top.type = 3;
|
||||
end
|
||||
|
||||
flex_top.kRx = args.kRx;
|
||||
flex_top.kRy = args.kRy;
|
||||
flex_top.kRz = args.kRz;
|
||||
flex_top.kz = args.kz;
|
||||
|
||||
flex_top.cRx = args.cRx;
|
||||
flex_top.cRy = args.cRy;
|
||||
flex_top.cRz = args.cRz;
|
||||
flex_top.cz = args.cz;
|
||||
Binary file not shown.
1225
matlab/test_bench_apa300ml/apa300ml_bot.STEP
Normal file
1225
matlab/test_bench_apa300ml/apa300ml_bot.STEP
Normal file
File diff suppressed because it is too large
Load Diff
2521
matlab/test_bench_apa300ml/apa300ml_structure.STEP
Normal file
2521
matlab/test_bench_apa300ml/apa300ml_structure.STEP
Normal file
File diff suppressed because it is too large
Load Diff
1225
matlab/test_bench_apa300ml/apa300ml_top.STEP
Normal file
1225
matlab/test_bench_apa300ml/apa300ml_top.STEP
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue
Block a user