This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
parallel_flexure_guide_transfer [2018/05/16 09:41] mark.naves |
parallel_flexure_guide_transfer [2020/06/04 12:26] marijn.nijenhuis |
||
---|---|---|---|
Line 3: | Line 3: | ||
===== Example: Compute transfer function of a parallel flexure guide ===== | ===== Example: Compute transfer function of a parallel flexure guide ===== | ||
- | This example shows the computation of the transfer function from actuator force (force in x-direction on the end-effector) to stage displacement (motion in x-direction of the end-effector) of a parallel flexure guide. | + | This example shows the computation of the transfer function from input actuator force (force in x-direction on the end-effector) to output |
{{:: | {{:: | ||
- | The transfer function (state-space equations) can be computed by specifying the input and output for the transfer function. For this example, actuation force in x-direction on node 3 (a node on the end-effector) is used for input, and displacement in x-direction of node 3 is used for the output. This can be specified with the '' | + | The state-space equations |
<code matlab> | <code matlab> | ||
- | nprops(3).transfer_in | + | nprops(3).transfer_in |
- | nprops(3).transfer_out = {' | + | nprops(3).transfer_out = {' |
+ | nprops(5).transfer_out = {'veloc_x' | ||
... | ... | ||
opt.transfer = {true 0.01}; | opt.transfer = {true 0.01}; | ||
</ | </ | ||
- | It has to be noted that the state-state equations can only be computed for an undeformed flexure mechanism. Therefore, no external loads (actuation force) or input displacements are allowed when computing state-space equations. | ||
- | The resulting transfer function is plotted in the figure below, with the first eiqenfrequency at approximately 10 rad/s and the first disturbing frequency | + | Note that |
+ | * the state-space equations can only be computed for an undeformed flexure mechanism. Therefore, no external loads (actuation force) or input displacements are allowed when computing state-space equations. (An error message will appear.) | ||
+ | * velocity outputs are supported as well; | ||
+ | * relative damping for all modes of the system can be specified optionally by means of the '' | ||
+ | For details, see the [[full_syntax|SPACAR Light full syntax]]. | ||
+ | |||
+ | The resulting transfer function | ||
{{:: | {{:: | ||
+ | Note that in case of multiple inputs and/or outputs, the resulting state-space structure in MATLAB will also indicate with named labels what these inputs and outputs are (i.e. node number and displacement, | ||
- | An example file for providing the input for SPACAR Light is provided below. | + | An example file for providing the input for SPACAR Light and plotting the transfer function |
<code matlab example.m> | <code matlab example.m> | ||
% EXAMPLE SCRIPT FOR RUNNING SPACAR LIGHT | % EXAMPLE SCRIPT FOR RUNNING SPACAR LIGHT | ||
Line 50: | Line 58: | ||
%node 3 | %node 3 | ||
nprops(3).transfer_in | nprops(3).transfer_in | ||
- | nprops(3).transfer_out = {' | + | nprops(3).transfer_out = {' |
+ | nprops(5).transfer_out = {' | ||
%node 4 | %node 4 | ||
Line 65: | Line 74: | ||
eprops(1).dim | eprops(1).dim | ||
eprops(1).orien | eprops(1).orien | ||
- | eprops(1).nbeams | + | eprops(1).nbeams |
- | eprops(1).flex | + | eprops(1).flex |
- | eprops(1).color | + | eprops(1).color |
- | eprops(1).opacity | + | eprops(1).opacity |
- | eprops(1).cw | + | eprops(1).cw |
%Property set 2 | %Property set 2 | ||
- | eprops(2).elems | + | eprops(2).elems |
eprops(2).dens | eprops(2).dens | ||
eprops(2).cshape | eprops(2).cshape | ||
- | eprops(2).dim | + | eprops(2).dim |
eprops(2).orien | eprops(2).orien | ||
- | eprops(2).nbeams | + | eprops(2).nbeams |
- | eprops(2).color | + | eprops(2).color |
%% OPTIONAL ARGUMENTS | %% OPTIONAL ARGUMENTS | ||
opt.transfer = {true 0.01}; | opt.transfer = {true 0.01}; | ||
+ | opt.filename = ' | ||
%% CALL SPACAR_LIGHT | %% CALL SPACAR_LIGHT |