0001 function [sys, VERSION] = model_TMActuation_xcpl
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0019 VERSION = '$Id:$';
0020 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0021
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0023 sys = ssm ;
0024
0025
0026 sys.paramnames = ...
0027 {...
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 [...
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 [...
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
0055 for i_params=1:length(sys.paramnames)
0056 cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');'];
0057 eval(cmd);
0058 end
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0060
0061
0062
0063
0064 L_TM1 = 0.046;
0065 L_TM2 = 0.046;
0066
0067
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
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
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
0114 D_DFACS = [ zeros(12,6) TMAct_xcpl ];
0115
0116
0117 D_Noise_TMActuation = [ eye(12) ];
0118
0119
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