Home > classes > @ssm > model_TMActuation_xcpl.m

model_TMActuation_xcpl

PURPOSE ^

defines a simple model_Capcitive_Actuation cross talk

SYNOPSIS ^

function [sys, VERSION] = model_TMActuation_xcpl

DESCRIPTION ^

 defines a simple model_Capcitive_Actuation cross talk
 ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 DESCRIPTION: model_Capcitive_Actuation defines a simple 2nd order
 stable system with a control and a noise input

 CALL: [sys, VERSION] = model_TMActuation
                         
 

 VERSION: $Id: $

 HISTORY: 01-04-2008 M Weyrich
 23-04-2008 A Grynagier
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [sys, VERSION] = model_TMActuation_xcpl
0002 % defines a simple model_Capcitive_Actuation cross talk
0003 % ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
0004 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0005 %
0006 % DESCRIPTION: model_Capcitive_Actuation defines a simple 2nd order
0007 % stable system with a control and a noise input
0008 %
0009 % CALL: [sys, VERSION] = model_TMActuation
0010 %
0011 %
0012 %
0013 % VERSION: $Id: $
0014 %
0015 % HISTORY: 01-04-2008 M Weyrich
0016 % 23-04-2008 A Grynagier
0017 %
0018 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0019 VERSION = '$Id:$';
0020 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0021 
0022 %% creating ssm
0023 sys = ssm ;
0024 
0025 % parameters in subsystem
0026 sys.paramnames = ...
0027     {...% Xcpl Actuation parameters
0028      'p_TMAct11'   'p_TMAct12'   'p_TMAct13'   'p_TMAct14'   'p_TMAct15'   'p_TMAct16'    ...
0029      'p_TMAct21'   'p_TMAct22'   'p_TMAct23'   'p_TMAct24'   'p_TMAct25'   'p_TMAct26'    ...
0030      'p_TMAct31'   'p_TMAct32'   'p_TMAct33'   'p_TMAct34'   'p_TMAct35'   'p_TMAct36'    ...
0031      'p_TMAct41'   'p_TMAct42'   'p_TMAct43'   'p_TMAct44'   'p_TMAct45'   'p_TMAct46'    ...
0032      'p_TMAct51'   'p_TMAct52'   'p_TMAct53'   'p_TMAct54'   'p_TMAct55'   'p_TMAct56'    ...
0033      'p_TMAct61'   'p_TMAct62'   'p_TMAct63'   'p_TMAct64'   'p_TMAct65'   'p_TMAct66'    ...
0034     };           
0035 sys.paramvalues =...
0036     [...% Xcpl Actuation parameters
0037       0  0  0  0  0  0 ...
0038       0  0  0  0  0  0 ...
0039       0  0  0  0  0  0 ...
0040       0  0  0  0  0  0 ...
0041       0  0  0  0  0  0 ...
0042       0  0  0  0  0  0 ...
0043       ];                                
0044 sys.paramsigmas =...
0045     [...% Xcpl Actuation parameters
0046       0  0  0  0  0  0 ...
0047       0  0  0  0  0  0 ...
0048       0  0  0  0  0  0 ...
0049       0  0  0  0  0  0 ...
0050       0  0  0  0  0  0 ...
0051       0  0  0  0  0  0 ...
0052     ];
0053  
0054 %% declaring symbolic parameters
0055 for i_params=1:length(sys.paramnames)
0056    cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');'];
0057    eval(cmd);
0058 end
0059 
0060 %%%%%%%%%%%%%%%%%%%%%%%%%% START BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0061 %  ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0062 % Numerical Definitions
0063 %=======================
0064 L_TM1 = 0.046;        % Edge lengths [m] of test mass cubes
0065 L_TM2 = 0.046;        % Edge lengths [m] of test mass cubes
0066 
0067 % Cross Coupling (Actuation) for each test mass:
0068 TMAct_TM1_0 = [ 1.0     0.005   0.005   0.005  0.005  0.005 ; ...
0069                 0.005   1.0     0.005   0.005  0.005  0.005 ; ...
0070                 0.005   0.005   1.0     0.005  0.005  0.005 ; ...
0071                 0.0016  0.0016  0.0016  1.0    0.005  0.005 ; ...
0072                 0.0016  0.0016  0.0016  0.005  1.0    0.005 ; ...
0073                 0.0016  0.0016  0.0016  0.005  0.005  1.0   ] ;
0074   
0075 TMAct_TM2_0 = [ 1.0     0.005   0.005   0.005  0.005  0.005 ; ...
0076                 0.005   1.0     0.005   0.005  0.005  0.005 ; ...
0077                 0.005   0.005   1.0     0.005  0.005  0.005 ; ...
0078                 0.0016  0.0016  0.0016  1.0    0.005  0.005 ; ...
0079                 0.0016  0.0016  0.0016  0.005  1.0    0.005 ; ...
0080                 0.0016  0.0016  0.0016  0.005  0.005  1.0   ];
0081 %--------------------------------------------------------------
0082 
0083 % Matrices used to dimension the actuation cross coupling matrices:
0084 TMAct_Dim_TM1 = [ 1          1          1          2/L_TM1  2/L_TM1  2/L_TM1 ; ...
0085                   1          1          1          2/L_TM1  2/L_TM1  2/L_TM1 ; ...
0086                   1          1          1          2/L_TM1  2/L_TM1  2/L_TM1 ; ...
0087                   0.5*L_TM1  0.5*L_TM1  0.5*L_TM1  1        1        1       ; ...
0088                   0.5*L_TM1  0.5*L_TM1  0.5*L_TM1  1        1        1       ; ...
0089                   0.5*L_TM1  0.5*L_TM1  0.5*L_TM1  1        1        1       ];
0090 
0091 TMAct_Dim_TM2 = [ 1          1          1          2/L_TM2  2/L_TM2  2/L_TM2 ; ...
0092                   1          1          1          2/L_TM2  2/L_TM2  2/L_TM2 ; ...
0093                   1          1          1          2/L_TM2  2/L_TM2  2/L_TM2 ; ...
0094                   0.5*L_TM2  0.5*L_TM2  0.5*L_TM2  1        1        1       ; ...
0095                   0.5*L_TM2  0.5*L_TM2  0.5*L_TM2  1        1        1       ; ...
0096                   0.5*L_TM2  0.5*L_TM2  0.5*L_TM2  1        1        1       ];        
0097 
0098 % parametric TMact Xcpl matrix
0099 p_TMAct =  [ p_TMAct11   p_TMAct12   p_TMAct13   p_TMAct14   p_TMAct15   p_TMAct16   ; ...
0100              p_TMAct21   p_TMAct22   p_TMAct23   p_TMAct24   p_TMAct25   p_TMAct26   ; ...
0101              p_TMAct31   p_TMAct32   p_TMAct33   p_TMAct34   p_TMAct35   p_TMAct36   ; ...
0102              p_TMAct41   p_TMAct42   p_TMAct43   p_TMAct44   p_TMAct45   p_TMAct46   ; ...
0103              p_TMAct51   p_TMAct52   p_TMAct53   p_TMAct54   p_TMAct55   p_TMAct56   ; ...
0104              p_TMAct61   p_TMAct62   p_TMAct63   p_TMAct64   p_TMAct65   p_TMAct66   ];              
0105               
0106 TMAct_TM1 =  (TMAct_TM1_0 + p_TMAct).* TMAct_Dim_TM1;
0107 TMAct_TM2 =  (TMAct_TM2_0 + p_TMAct).* TMAct_Dim_TM2;
0108 
0109 TMAct_xcpl = [ TMAct_TM1  zeros(6);...
0110                zeros(6)   TMAct_TM2];
0111 %---------------------------------------------------------------------------------------------------
0112 
0113 %            F_mps        F_susp
0114 D_DFACS = [ zeros(12,6)   TMAct_xcpl ];    % TM actuation F_susp
0115 
0116 %                 Noise_TMActuation_ro(12)
0117 D_Noise_TMActuation = [ eye(12) ];
0118 
0119 %%%%%%%%%%%%%%%%%%%%%%%%%% END BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0120 %  +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0121 sys.name = 'TMActuation_xcpl';
0122 
0123 sys.amats    = cell(0,0);
0124 sys.bmats    = cell(0,2);
0125 sys.cmats    = cell(1,0);
0126 sys.dmats    = {D_DFACS  D_Noise_TMActuation};
0127 sys.timestep = 0;
0128 
0129 sys.inputnames    = {'DFACS_command' 'Dist_F_TMAct' };
0130 sys.inputvarnames = {...
0131     {'fx_mps_c' 'fy_mps_c' 'fz_mps_c' 'tx_mps_c' 'ty_mps_c' 'tz_mps_c'...
0132      'fx1_TMAct_c' 'fy1_TMAct_c' 'fz1_TMAct_c' 'tx1_TMAct_c' 'ty1_TMAct_c' 'tz1_TMAct_c'...
0133      'fx2_TMAct_c' 'fy2_TMAct_c' 'fz2_TMAct_c' 'tx2_TMAct_c' 'ty2_TMAct_c' 'tz2_TMAct_c'}...
0134     {'Dist_fx1_TMAct' 'Dist_fy1_TMAct' 'Dist_fz1_TMAct' 'Dist_tx1_TMAct' 'Dist_ty1_TMAct' 'Dist_tz1_TMAct'...
0135      'Dist_fx2_TMAct' 'Dist_fy2_TMAct' 'Dist_fz2_TMAct' 'Dist_tx2_TMAct' 'Dist_ty2_TMAct' 'Dist_tz2_TMAct'}...
0136      };
0137 
0138 sys.outputnames    = {'F_TMAct'};
0139 sys.outputvarnames = ...
0140     {{'fx1_TMAct' 'fy1_TMAct' 'fz1_TMAct' 'tx1_TMAct' 'ty1_TMAct' 'tz1_TMAct'...
0141      'fx2_TMAct' 'fy2_TMAct' 'fz2_TMAct' 'tx2_TMAct' 'ty2_TMAct' 'tz2_TMAct'}};
0142 end

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