Home > classes > @ssm > model_NSF_TMActuation.m

model_NSF_TMActuation

PURPOSE ^

defines a capacitive actuation noise model

SYNOPSIS ^

function [sys, VERSION] = model_NSF_TMActuation

DESCRIPTION ^

 defines a capacitive actuation noise model
 ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 DESCRIPTION: model_Noise_TMActuation defines a capacitive actuation noise
 model 

 CALL: [sys, VERSION] = model_Noise_TMActuation 
                         
 ***** There are no parameters *****

 VERSION: $Id: $

 HISTORY: 01-04-2008 M Weyrich
 23-04-2008 A Grynagier
 
Parametric model of the Actuation noise filter (High Resolution Mode)
TODO: ->check if this state space repr. build through PFD in Maple is
        correct and probably numerical issues??
      ->check units, input m/s^2, cause LTP expects forces multiplied the
        gain factors with m_TM_0 =1.96 kg, I_TM_0(1,1) =6.912e-04 kgm^2
        respectively
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [sys, VERSION] = model_NSF_TMActuation
0002 % defines a capacitive actuation noise model
0003 % ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
0004 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0005 %
0006 % DESCRIPTION: model_Noise_TMActuation defines a capacitive actuation noise
0007 % model
0008 %
0009 % CALL: [sys, VERSION] = model_Noise_TMActuation
0010 %
0011 % ***** There are no parameters *****
0012 %
0013 % VERSION: $Id: $
0014 %
0015 % HISTORY: 01-04-2008 M Weyrich
0016 % 23-04-2008 A Grynagier
0017 %
0018 %Parametric model of the Actuation noise filter (High Resolution Mode)
0019 %TODO: ->check if this state space repr. build through PFD in Maple is
0020 %        correct and probably numerical issues??
0021 %      ->check units, input m/s^2, cause LTP expects forces multiplied the
0022 %        gain factors with m_TM_0 =1.96 kg, I_TM_0(1,1) =6.912e-04 kgm^2
0023 %        respectively
0024 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0025 VERSION ='$Id:$';
0026 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0027 
0028 %% creating ssm
0029 sys =ssm();
0030 
0031 % parameters in subsystem
0032 sys.paramnames = {...
0033      'p_p1_N_TMAct_x'  'p_p2_N_TMAct_x'  'p_p3_N_TMAct_x'  'p_p4_N_TMAct_x'  'p_p5_N_TMAct_x'   ...
0034      'p_g1_N_TMAct_x'  'p_g2_N_TMAct_x'  'p_g3_N_TMAct_x'  'p_g4_N_TMAct_x'  'p_g5_N_TMAct_x'  'p_g6_N_TMAct_x' ...
0035      'p_p1_N_TMAct_y'  'p_p2_N_TMAct_y'  'p_p3_N_TMAct_y'  'p_p4_N_TMAct_y'  'p_p5_N_TMAct_y'   ...
0036      'p_g1_N_TMAct_y'  'p_g2_N_TMAct_y'  'p_g3_N_TMAct_y'  'p_g4_N_TMAct_y'  'p_g5_N_TMAct_y'  'p_g6_N_TMAct_y' ...
0037      'p_p1_N_TMAct_z'  'p_p2_N_TMAct_z'  'p_p3_N_TMAct_z'  'p_p4_N_TMAct_z'  'p_p5_N_TMAct_z'   ...
0038      'p_g1_N_TMAct_z'  'p_g2_N_TMAct_z'  'p_g3_N_TMAct_z'  'p_g4_N_TMAct_z'  'p_g5_N_TMAct_z'  'p_g6_N_TMAct_z' ...
0039      ...%---------------------------------------------------------------------------
0040      'p_p1_N_TMAct_t'  'p_p2_N_TMAct_t'  'p_p3_N_TMAct_t'  'p_p4_N_TMAct_t'    ...
0041      'p_g1_N_TMAct_t'  'p_g2_N_TMAct_t'  'p_g3_N_TMAct_t'  'p_g4_N_TMAct_t'  'p_g5_N_TMAct_t'   ...
0042      'p_p1_N_TMAct_e'  'p_p2_N_TMAct_e'  'p_p3_N_TMAct_e'  'p_p4_N_TMAct_e'    ...
0043      'p_g1_N_TMAct_e'  'p_g2_N_TMAct_e'  'p_g3_N_TMAct_e'  'p_g4_N_TMAct_e'  'p_g5_N_TMAct_e'   ...
0044      'p_p1_N_TMAct_p'  'p_p2_N_TMAct_p'  'p_p3_N_TMAct_p'  'p_p4_N_TMAct_p'    ...
0045      'p_g1_N_TMAct_p'  'p_g2_N_TMAct_p'  'p_g3_N_TMAct_p'  'p_g4_N_TMAct_p'  'p_g5_N_TMAct_p'   ...
0046       ...%---------------------------------------------------------------------------
0047      'p_gDC_N_TMAct_x' 'p_gDC_N_TMAct_y' 'p_gDC_N_TMAct_z'  'p_gDC_N_TMAct_t' 'p_gDC_N_TMAct_e' 'p_gDC_N_TMAct_p' ...
0048     };
0049 sys.paramvalues = [ ...
0050      0  0  0  0  0   ...
0051      0  0  0  0  0  0 ...
0052      0  0  0  0  0   ...
0053      0  0  0  0  0  0 ...
0054      0  0  0  0  0   ...
0055      0  0  0  0  0  0 ...
0056      ...%---------------------------------------------------------------------------
0057      0  0  0  0    ...
0058      0  0  0  0  0  ...
0059      0  0  0  0    ...
0060      0  0  0  0  0  ...
0061      0  0  0  0    ...
0062      0  0  0  0  0  ...
0063       ...%---------------------------------------------------------------------------
0064      0  0  0  0  0  0 ...
0065     ];
0066 sys.paramsigmas =  [ ...
0067      0  0  0  0  0   ...
0068      0  0  0  0  0  0 ...
0069      0  0  0  0  0   ...
0070      0  0  0  0  0  0 ...
0071      0  0  0  0  0   ...
0072      0  0  0  0  0  0 ...
0073      ...%---------------------------------------------------------------------------
0074      0  0  0  0    ...
0075      0  0  0  0  0  ...
0076      0  0  0  0    ...
0077      0  0  0  0  0  ...
0078      0  0  0  0    ...
0079      0  0  0  0  0  ...
0080       ...%---------------------------------------------------------------------------
0081      0  0  0  0  0  0 ...
0082     ];
0083 
0084 %% declaring symbolic parameters
0085 for i_params=1:length(sys.paramnames)
0086    cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');'];
0087    eval(cmd);
0088 end
0089 %%%%%%%%%%%%%%%%%%%%%%%%%% START BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0090 
0091 
0092 f1 =10/20.35*1.8164e-14;
0093 A1 =[-5e-5+p_p1_N_TMAct_x   1                  0                  0                    0              ;...
0094        0                 -5e-5+p_p2_N_TMAct_x   1                  0                    0              ;...
0095        0                  0                 -5e-5+p_p3_N_TMAct_x   0                    0              ;...
0096        0                  0                  0                 -4.5e-5+p_p4_N_TMAct_x   0              ;...
0097        0                  0                  0                  0                   -1e-4+p_p5_N_TMAct_x];
0098 B1 =[ 0; 0; 1; 1; 1];
0099 C1 =f1*[3.409875000e-9+p_g1_N_TMAct_x, 0.0004114874890+p_g2_N_TMAct_x, 91.66094784+p_g3_N_TMAct_x, -90.69787011+p_g4_N_TMAct_x, -0.9584727300+p_g5_N_TMAct_x];
0100 D1 =f1*(1+p_g6_N_TMAct_x) ;
0101 
0102 f2 =10/20.35*1.8106e-14;
0103 A2 =[-5e-5+p_p1_N_TMAct_y   1                  0                  0                    0              ;...
0104        0                 -5e-5+p_p2_N_TMAct_y   1                  0                    0              ;...
0105        0                  0                 -5e-5+p_p3_N_TMAct_y   0                    0              ;...
0106        0                  0                  0                 -4.5e-5+p_p4_N_TMAct_y   0              ;...
0107        0                  0                  0                  0                   -1e-4+p_p5_N_TMAct_y];
0108 B2 =[ 0; 0; 1; 1; 1];
0109 C2 =f2*[3.968625000e-9+p_g1_N_TMAct_y, 0.0004786624900+p_g2_N_TMAct_y, 106.6504479+p_g3_N_TMAct_y, -105.5263929+p_g4_N_TMAct_y, -1.119200000+p_g5_N_TMAct_y];
0110 D2 =f2*(1+p_g6_N_TMAct_y) ;
0111 
0112 f3 =10/20.35*1.8262e-13;
0113 A3 =[-5e-5+p_p1_N_TMAct_z   1                  0                  0                    0              ;...
0114        0                 -5e-5+p_p2_N_TMAct_z   1                  0                    0              ;...
0115        0                  0                 -5e-5+p_p3_N_TMAct_z   0                    0              ;...
0116        0                  0                  0                 -4.5e-5+p_p4_N_TMAct_z   0              ;...
0117        0                  0                  0                  0                   -1e-4+p_p5_N_TMAct_z];
0118 B3 =[ 0; 0; 1; 1; 1];
0119 C3 =f3*[2.322875000e-9+p_g1_N_TMAct_z, 0.0002807874940+p_g2_N_TMAct_z, 62.49814869+p_g3_N_TMAct_z, -61.84802733+p_g4_N_TMAct_z, -0.6460363600+p_g5_N_TMAct_z];
0120 D3 =f3*(1+p_g6_N_TMAct_z) ;
0121 
0122 f4 =10/20.35*1.2985e-11;
0123 A4 =[-9.5e-5+p_p1_N_TMAct_t   1                    0                   0              ;...
0124        0                   -9.5e-5+p_p2_N_TMAct_t   0                   0              ;...
0125        0                    0                   -9e-5+p_p3_N_TMAct_t    0              ;...
0126        0                    0                    0                  -1e-4+p_p4_N_TMAct_t];
0127 B4 =[ 0; 1; 1; 1 ];
0128 C4 =f4*[-0.001894924902+p_g1_N_TMAct_t, 38.36974950+p_g2_N_TMAct_t, 170.7544552+p_g3_N_TMAct_t, -209.1199847+p_g4_N_TMAct_t ];
0129 D4 =f4*(1+p_g5_N_TMAct_t) ;
0130 
0131 f5 =10/20.35*1.2932e-11;
0132 A5 =[-9.5e-5+p_p1_N_TMAct_e   1                    0                     0              ;...
0133        0                   -9.5e-5+p_p2_N_TMAct_e   1                     0              ;...
0134        0                    0                   -9.5e-5+p_p3_N_TMAct_e    0              ;...
0135        0                    0                    0                    -1e-4+p_p4_N_TMAct_e];
0136 B5 =[ 0; 0; 1; 1 ];
0137 C5 =f5*[8.897160875e-9+p_g1_N_TMAct_e, -0.001959277150+p_g2_N_TMAct_e, 392.6841350+p_g3_N_TMAct_e, -392.6800000+p_g4_N_TMAct_e ];
0138 D5 =f5*(1+p_g5_N_TMAct_e) ;
0139 
0140 f6 =10/20.35*2.5628e-12;
0141 A6 =[-9.5e-5+p_p1_N_TMAct_p   1                    0                     0              ;...
0142        0                   -9.5e-5+p_p2_N_TMAct_p   1                     0              ;...
0143        0                    0                   -9.5e-5+p_p3_N_TMAct_p    0              ;...
0144        0                    0                    0                    -1e-4+p_p4_N_TMAct_p];
0145 B6 =[ 0; 0; 1; 1 ];
0146 C6 =f6*[1.560165288e-8+p_g1_N_TMAct_p, -0.003439734350+p_g2_N_TMAct_p, 689.4850150+p_g3_N_TMAct_p, -689.4800000+p_g4_N_TMAct_p ];
0147 D6 =f6*(1+p_g5_N_TMAct_p) ;
0148 
0149 A =blkdiag(A1, A2, A3, A4, A5, A6,  A1, A2, A3, A4, A5, A6);
0150 B_TMAct_noise =blkdiag(B1, B2, B3, B4, B5, B6,  B1, B2, B3, B4, B5, B6);
0151 C =blkdiag(C1, C2, C3, C4, C5, C6,  C1, C2, C3, C4, C5, C6);
0152 D_TMAct_noise =blkdiag(D1, D2, D3, D4, D5, D6,  D1, D2, D3, D4, D5, D6);
0153 %----------------------------------------------------------------
0154 B_TMAct_DC =zeros(54,12);
0155 D_TMAct_DC =eye(12) + diag([p_gDC_N_TMAct_x, p_gDC_N_TMAct_y, p_gDC_N_TMAct_z, p_gDC_N_TMAct_t, p_gDC_N_TMAct_e, p_gDC_N_TMAct_p, ...
0156                              p_gDC_N_TMAct_x, p_gDC_N_TMAct_y, p_gDC_N_TMAct_z, p_gDC_N_TMAct_t, p_gDC_N_TMAct_e, p_gDC_N_TMAct_p ]);
0157 
0158 %%%%%%%%%%%%%%%%%%%%%%%%%% END BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0159 %  +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0160 
0161 %% 1_ADDING MATRICES TO SUBSYSTEM SAVING STRUCTURE
0162 %= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
0163 
0164 sys.name = 'NSF_TMActuation';
0165 
0166 sys.amats    = {A};
0167 sys.bmats    = {B_TMAct_noise  B_TMAct_DC};
0168 sys.cmats    = {C};
0169 sys.dmats    = {D_TMAct_noise  D_TMAct_DC};
0170 sys.timestep = 0;
0171 
0172 sys.ssnames    = {'NSF_TMActuation'};
0173 
0174 sys.inputnames    = {'Noise_F_TMAct' 'DC_F_TMAct'};
0175 sys.inputvarnames = ...
0176     {{'n_fx1_TMAct' 'n_fy1_TMAct' 'n_fz1_TMAct' 'n_tx1_TMAct' 'n_ty1_TMAct' 'n_tz1_TMAct' ...
0177       'n_fx2_TMAct' 'n_fy2_TMAct' 'n_fz2_TMAct' 'n_tx2_TMAct' 'n_ty2_TMAct' 'n_tz2_TMAct'}...
0178      {'DC_fx1_TMAct' 'DC_fy1_TMAct' 'DC_fz1_TMAct' 'DC_tx1_TMAct' 'DC_ty1_TMAct' 'DC_tz1_TMAct'...
0179       'DC_fx2_TMAct' 'DC_fy2_TMAct' 'DC_fz2_TMAct' 'DC_tx2_TMAct' 'DC_ty2_TMAct' 'DC_tz2_TMAct'}...
0180     };
0181   
0182 sys.outputnames    = {'Dist_F_TMAct'};
0183 sys.outputvarnames = ...
0184     {{'Dist_fx1_TMAct' 'Dist_fy1_TMAct' 'Dist_fz1_TMAct' 'Dist_tx1_TMAct' 'Dist_ty1_TMAct' 'Dist_tz1_TMAct'...
0185      'Dist_fx2_TMAct' 'Dist_fy2_TMAct' 'Dist_fz2_TMAct' 'Dist_tx2_TMAct' 'Dist_ty2_TMAct' 'Dist_tz2_TMAct'}};
0186 
0187 
0188 end
0189

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