Compute sensor/actuator constants

This commit is contained in:
Thomas Dehaeze 2021-06-07 18:43:02 +02:00
parent fe52c24729
commit e051f58428
52 changed files with 12501 additions and 1194 deletions

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@ -27,7 +27,7 @@ V_noise = generateShapedNoise('Ts', 1/Fs, ...
%% Sweep Sine
gc = 0.1;
xi = 0.5;
wn = 2*pi*92.7;
wn = 2*pi*94.3;
% Notch filter at the resonance of the APA
G_sweep = 0.2*(s^2 + 2*gc*xi*wn*s + wn^2)/(s^2 + 2*xi*wn*s + wn^2);
@ -41,15 +41,6 @@ V_sweep = generateSweepExc('Ts', Ts, ...
'sweep_type', 'log', ...
'V_exc', G_sweep*1/(1 + s/2/pi/500));
V_sweep_lf = generateSweepExc('Ts', Ts, ...
'f_start', 0.1, ...
'f_end', 10, ...
'V_mean', 3.25, ...
't_start', Trec_start, ...
'exc_duration', Trec_dur, ...
'sweep_type', 'log', ...
'V_exc', 0.2);
%% High Frequency Shaped Noise
[b,a] = cheby1(10, 2, 2*pi*[300 2e3], 'bandpass', 's');
wL = 0.005*tf(b, a);
@ -70,19 +61,6 @@ V_sin = generateSinIncreasingAmpl('Ts', 1/Fs, ...
't_start', Trec_start, ...
'smooth_ends', true);
%% Zero Excitation
% Trec_start = 10; % Start time for Recording [s]
% Trec_dur = 40; % Recording Duration [s]
%
% Tsim = 2*Trec_start + Trec_dur; % Simulation Time [s]
V_zero = generateShapedNoise('Ts', 1/Fs, ...
'V_mean', 3.25, ...
't_start', Trec_start, ...
'exc_duration', Trec_dur, ...
'smooth_ends', true, ...
'V_exc', tf(0));
%% Select the excitation signal
V_exc = timeseries(V_noise(2,:), V_noise(1,:));
@ -91,12 +69,12 @@ figure;
tiledlayout(1, 2, 'TileSpacing', 'Normal', 'Padding', 'None');
ax1 = nexttile;
plot(V_exc.Time, squeeze(V_exc.Data));
plot(V_exc(1,:), V_exc(2,:));
xlabel('Time [s]'); ylabel('Amplitude [V]');
ax2 = nexttile;
win = hanning(floor(length(squeeze(V_exc.Data))/8));
[pxx, f] = pwelch(squeeze(V_exc.Data), win, 0, [], Fs);
win = hanning(floor(length(V_exc)/8));
[pxx, f] = pwelch(V_exc(2,:), win, 0, [], Fs);
plot(f, pxx)
xlabel('Frequency [Hz]'); ylabel('Power Spectral Density [$V^2/Hz$]');
set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');

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View 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
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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]

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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;

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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;

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