Home > classes > @ssm > model_IS_readout_xcpl.m

model_IS_readout_xcpl

PURPOSE ^

defines the read out from the inertial sensor without cross coupling

SYNOPSIS ^

function [sys, VERSION] = model_IS_readout_xcpl

DESCRIPTION ^

 defines the read out from the inertial sensor without cross coupling
 ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 DESCRIPTION: model_IS_ro efines the read out  from the inertial
 sensor

 CALL: [sys, VERSION] =model_IS_readout 
                         
 

 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_IS_readout_xcpl
0002 % defines the read out from the inertial sensor without cross coupling
0003 % ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
0004 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0005 %
0006 % DESCRIPTION: model_IS_ro efines the read out  from the inertial
0007 % sensor
0008 %
0009 % CALL: [sys, VERSION] =model_IS_readout
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 Sensing parameters
0028      'p_IS_ro11'   'p_IS_ro12'   'p_IS_ro13'   'p_IS_ro14'   'p_IS_ro15'   'p_IS_ro16'    ...
0029      'p_IS_ro21'   'p_IS_ro22'   'p_IS_ro23'   'p_IS_ro24'   'p_IS_ro25'   'p_IS_ro26'    ...
0030      'p_IS_ro31'   'p_IS_ro32'   'p_IS_ro33'   'p_IS_ro34'   'p_IS_ro35'   'p_IS_ro36'    ...
0031      'p_IS_ro41'   'p_IS_ro42'   'p_IS_ro43'   'p_IS_ro44'   'p_IS_ro45'   'p_IS_ro46'    ...
0032      'p_IS_ro51'   'p_IS_ro52'   'p_IS_ro53'   'p_IS_ro54'   'p_IS_ro55'   'p_IS_ro56'    ...
0033      'p_IS_ro61'   'p_IS_ro62'   'p_IS_ro63'   'p_IS_ro64'   'p_IS_ro65'   'p_IS_ro66'    ...
0034      };           
0035 sys.paramvalues = ...
0036     [ ...% Xcpl Sensing 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 Sensing 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 
0063 % Numerical Definitions
0064 %========================
0065 L_TM1 = 0.046;        % Edge lengths [m] of test mass cubes
0066 L_TM2 = 0.046;        % Edge lengths [m] of test mass cubes
0067                
0068 % Cross Coupling (Sensing) for each test mass:
0069 IS_ro_TM1_0 =  [ 1      0.003  0.003  0.026  0.026  0.026 ; ...
0070                  0.003  1      0.003  0.026  0.026  0.026 ; ...
0071                  0.003  0.003  1      0.026  0.026  0.026 ; ...
0072                  0.002  0.002  0.002  1      0.001  0.001 ; ...
0073                  0.002  0.002  0.002  0.001  1      0.001 ; ...
0074                  0.002  0.002  0.002  0.001  0.001  1 ] ;
0075 
0076 IS_ro_TM2_0 =  [ 1      0.003  0.003  0.026  0.026  0.026 ; ...
0077                  0.003  1      0.003  0.026  0.026  0.026 ; ...
0078                  0.003  0.003  1      0.026  0.026  0.026 ; ...
0079                  0.002  0.002  0.002  1      0.001  0.001 ; ...
0080                  0.002  0.002  0.002  0.001  1      0.001 ; ...
0081                  0.002  0.002  0.002  0.001  0.001  1 ] ;
0082 %-----------------------------------------------------------
0083 % Matrices used to dimension the sensing cross coupling matrices:
0084 IS_ro_Dim_TM1 = [ 1        1        1        0.5*L_TM1  0.5*L_TM1  0.5*L_TM1 ; ...
0085                   1        1        1        0.5*L_TM1  0.5*L_TM1  0.5*L_TM1 ; ...
0086                   1        1        1        0.5*L_TM1  0.5*L_TM1  0.5*L_TM1 ; ...
0087                   2/L_TM1  2/L_TM1  2/L_TM1  1          1          1         ; ...
0088                   2/L_TM1  2/L_TM1  2/L_TM1  1          1          1         ; ...
0089                   2/L_TM1  2/L_TM1  2/L_TM1  1          1          1         ];
0090     
0091 IS_ro_Dim_TM2 = [ 1        1        1        0.5*L_TM2  0.5*L_TM2  0.5*L_TM2  ; ...
0092                   1        1        1        0.5*L_TM2  0.5*L_TM2  0.5*L_TM2  ; ...
0093                   1        1        1        0.5*L_TM2  0.5*L_TM2  0.5*L_TM2  ; ...
0094                   2/L_TM2  2/L_TM2  2/L_TM2  1          1          1          ; ...
0095                   2/L_TM2  2/L_TM2  2/L_TM2  1          1          1          ; ...
0096                   2/L_TM2  2/L_TM2  2/L_TM2  1          1          1          ];                 
0097 
0098 % parametric IS Xcpl matrix
0099 p_IS_ro =  [ p_IS_ro11   p_IS_ro12   p_IS_ro13   p_IS_ro14   p_IS_ro15   p_IS_ro16   ; ...
0100              p_IS_ro21   p_IS_ro22   p_IS_ro23   p_IS_ro24   p_IS_ro25   p_IS_ro26   ; ...
0101              p_IS_ro31   p_IS_ro32   p_IS_ro33   p_IS_ro34   p_IS_ro35   p_IS_ro36   ; ...
0102              p_IS_ro41   p_IS_ro42   p_IS_ro43   p_IS_ro44   p_IS_ro45   p_IS_ro46   ; ...
0103              p_IS_ro51   p_IS_ro52   p_IS_ro53   p_IS_ro54   p_IS_ro55   p_IS_ro56   ; ...
0104              p_IS_ro61   p_IS_ro62   p_IS_ro63   p_IS_ro64   p_IS_ro65   p_IS_ro66   ];              
0105               
0106 IS_ro_TM1 =  (IS_ro_TM1_0 + p_IS_ro).* IS_ro_Dim_TM1;
0107 IS_ro_TM2 =  (IS_ro_TM2_0 + p_IS_ro).* IS_ro_Dim_TM2;
0108 
0109 IS_ro_xcpl = [ IS_ro_TM1  zeros(6);...
0110                zeros(6)   IS_ro_TM2];
0111       
0112 % State Space Matrices
0113 %==============================
0114 %------------------------------------------------------------------------------------------------
0115 
0116 
0117 %         SC_att       TM1_pos+att_TM2
0118 D_LTP = [ zeros(12,3)   IS_ro_xcpl  ];    % IS readout
0119 
0120 %                 Noise_IS_ro(12)
0121 D_Noise_IS_ro = [ eye(12) ];
0122 
0123 %%%%%%%%%%%%%%%%%%%%%%%%%% END BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0124 %  +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0125 
0126 
0127 sys.name = 'IS_readout_xcpl';
0128 
0129 sys.amats    = cell(0,0);
0130 sys.bmats    = cell(0,2);
0131 sys.cmats    = cell(1,0);
0132 sys.dmats    = {D_LTP  D_Noise_IS_ro };
0133 sys.timestep = 0;
0134 
0135 sys.inputnames    = {'SC_TM_attitude' 'Dist_IS_readout' };
0136 sys.inputvarnames = {...
0137     {'thetaB' 'etaB' 'phiB'...
0138      'rx1_H1' 'ry1_H1' 'rz1_H1' 'theta1' 'eta1' 'phi1' ...
0139      'rx2_H2' 'ry2_H2' 'rz2_H2' 'theta2' 'eta2' 'phi2' }...
0140      {'Dist_x1_IS_ro' 'Dist_y1_IS_ro' 'Dist_z1_IS_ro'...
0141       'Dist_theta1_IS_ro' 'Dist_eta1_IS_ro' 'Dist_phi1_IS_ro' ...
0142       'Dist_x2_IS_ro' 'Dist_y2_IS_ro' 'Dist_z2_IS_ro'...
0143       'Dist_theta2_IS_ro' 'Dist_eta2_IS_ro' 'Dist_phi2_IS_ro'}...
0144     };
0145 
0146 sys.outputnames    = {'IS_readout'};
0147 sys.outputvarnames = ...
0148     {{'rx1_H1_IS' 'ry1_H1_IS' 'rz1_H1_IS' 'theta1_IS' 'eta1_IS' 'phi1_IS' ...
0149      'rx2_H2_IS' 'ry2_H2_IS' 'rz2_H2_IS' 'theta2_IS' 'eta2_IS' 'phi2_IS'} ...
0150      };
0151 
0152 end

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