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83
index.html
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index.html
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||||
<?xml version="1.0" encoding="utf-8"?>
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||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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||||
<!-- 2021-07-19 lun. 11:16 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<title>Multibody Simulations with Reduced Order Flexible Bodies obtained by FEA</title>
|
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<meta name="author" content="Thomas Dehaeze" />
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<meta name="generator" content="Org Mode" />
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<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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<a accesskey="h" href="../index.html"> UP </a>
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<a accesskey="H" href="../index.html"> HOME </a>
|
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</div><div id="content">
|
||||
<h1 class="title">Multibody Simulations with Reduced Order Flexible Bodies obtained by FEA
|
||||
<br />
|
||||
<span class="subtitle">Brumund Philipp, Dehaeze Thomas</span>
|
||||
</h1>
|
||||
<blockquote>
|
||||
<p>
|
||||
<b>Abstract</b>:
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Tighter specifications in synchrotron instrumentation development force the design engineers more and more often to choose a mechatronics design approach.
|
||||
This includes actively controlled systems that need to be properly designed.
|
||||
The new Nano Active Stabilization System (NASS) for the ESRF beamline ID31 was designed with such an approach.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
We chose a multi-body design modelling approach for the development of the NASS end-station.
|
||||
Significance of such models depend strongly on its input and consideration of the right stiffness of the system’s components and subsystems.
|
||||
For that matter, we considered sub-components in the multi-body model as <i>reduced order flexible bodies</i> representing the component’s modal behaviour with reduced mass and stiffness matrices obtained from finite element analysis (FEA) models.
|
||||
These matrices were created from FEA models via modal reduction techniques, more specifically the component mode synthesis (CMS).
|
||||
This makes this design approach a combined multibody-FEA technique.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
We validated the technique with a test bench that confirmed the good modelling capabilities using reduced order flexible body models obtained from FEA for an amplified piezoelectric actuator (APA).
|
||||
</p>
|
||||
</blockquote>
|
||||
|
||||
<div id="outline-container-org13e5336" class="outline-2">
|
||||
<h2 id="org13e5336">Conference Paper (<a href="paper/brumund21_multib_simul_reduc_order_flexib_bodies_fea.pdf">pdf</a>)</h2>
|
||||
<div class="outline-text-2" id="text-org13e5336">
|
||||
<p>
|
||||
To cite this conference paper use the following bibtex code.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-bibtex"><span class="org-function-name">@inproceedings</span>{<span class="org-constant">brumund21_multib_simul_reduc_order_flexib_bodies_fea</span>,
|
||||
<span class="org-variable-name">author</span> = {Philipp Brumund and Thomas Dehaeze},
|
||||
<span class="org-variable-name">title</span> = {Multibody Simulations with Reduced Order Flexible Bodies
|
||||
obtained by FEA},
|
||||
<span class="org-variable-name">booktitle</span> = {MEDSI'20},
|
||||
<span class="org-variable-name">year</span> = 2021,
|
||||
<span class="org-variable-name">language</span> = {english},
|
||||
<span class="org-variable-name">publisher</span> = {JACoW Publishing},
|
||||
<span class="org-variable-name">series</span> = {Mechanical Engineering Design of Synchrotron Radiation
|
||||
Equipment and Instrumentation},
|
||||
<span class="org-variable-name">venue</span> = {Chicago, USA},
|
||||
}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
You can also use the formatted citation below.
|
||||
</p>
|
||||
<blockquote>
|
||||
<p>
|
||||
Brumund, P., & Dehaeze, T., Multibody simulations with reduced order flexible bodies obtained by fea, In MEDSI’20 (2021), JACoW Publishing.
|
||||
</p>
|
||||
</blockquote>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</body>
|
||||
</html>
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||||
57
index.org
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#+TITLE: Multibody Simulations with Reduced Order Flexible Bodies obtained by FEA
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:DRAWER:
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||||
#+SUBTITLE: Brumund Philipp, Dehaeze Thomas
|
||||
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||||
#+OPTIONS: toc:nil
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||||
#+OPTIONS: html-postamble:nil
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||||
|
||||
#+HTML_LINK_HOME: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
#+HTML_HEAD: <style> #content {margin: auto;} </style>
|
||||
:END:
|
||||
|
||||
#+begin_quote
|
||||
*Abstract*:
|
||||
|
||||
Tighter specifications in synchrotron instrumentation development force the design engineers more and more often to choose a mechatronics design approach.
|
||||
This includes actively controlled systems that need to be properly designed.
|
||||
The new Nano Active Stabilization System (NASS) for the ESRF beamline ID31 was designed with such an approach.
|
||||
|
||||
We chose a multi-body design modelling approach for the development of the NASS end-station.
|
||||
Significance of such models depend strongly on its input and consideration of the right stiffness of the system's components and subsystems.
|
||||
For that matter, we considered sub-components in the multi-body model as /reduced order flexible bodies/ representing the component's modal behaviour with reduced mass and stiffness matrices obtained from finite element analysis (FEA) models.
|
||||
These matrices were created from FEA models via modal reduction techniques, more specifically the component mode synthesis (CMS).
|
||||
This makes this design approach a combined multibody-FEA technique.
|
||||
|
||||
We validated the technique with a test bench that confirmed the good modelling capabilities using reduced order flexible body models obtained from FEA for an amplified piezoelectric actuator (APA).
|
||||
#+end_quote
|
||||
|
||||
* Conference Paper ([[file:paper/brumund21_multib_simul_reduc_order_flexib_bodies_fea.pdf][pdf]])
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
|
||||
To cite this conference paper use the following bibtex code.
|
||||
#+begin_src bibtex
|
||||
@inproceedings{brumund21_multib_simul_reduc_order_flexib_bodies_fea,
|
||||
author = {Philipp Brumund and Thomas Dehaeze},
|
||||
title = {Multibody Simulations with Reduced Order Flexible Bodies
|
||||
obtained by FEA},
|
||||
booktitle = {MEDSI'20},
|
||||
year = 2021,
|
||||
language = {english},
|
||||
publisher = {JACoW Publishing},
|
||||
series = {Mechanical Engineering Design of Synchrotron Radiation
|
||||
Equipment and Instrumentation},
|
||||
venue = {Chicago, USA},
|
||||
}
|
||||
#+end_src
|
||||
|
||||
You can also use the formatted citation below.
|
||||
#+begin_quote
|
||||
Brumund, P., & Dehaeze, T., Multibody simulations with reduced order flexible bodies obtained by fea, In MEDSI'20 (2021), JACoW Publishing.
|
||||
#+end_quote
|
||||
|
||||
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\documentclass[a4paper,
|
||||
biblatex, % biblatex is used
|
||||
keeplastbox % flushend option: not to un-indent last line in References
|
||||
]{jacow}
|
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|
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\usepackage{pdfpages,multirow,ragged2e} %
|
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\usepackage{caption, subcaption}
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\usepackage{bm,amsmath}
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\usepackage{hyperref}
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\usepackage[utf8]{inputenc}
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\usepackage[USenglish]{babel}
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\addbibresource{ref.bib}
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\listfiles
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|
||||
\newcommand{\vect}[1]{\ensuremath{\bm{#1}}}
|
||||
\newcommand{\matr}[1]{\ensuremath{\bm{#1}}}
|
||||
|
||||
\begin{document}
|
||||
|
||||
\title{Multibody simulations with reduced order flexible bodies obtained by FEA}
|
||||
|
||||
\author{P. Brumund\thanks{brumund@esrf.fr}, T. Dehaeze\textsuperscript{1}, ESRF, Grenoble, France \\
|
||||
\textsuperscript{1}also at Precision Mechatronics Laboratory / A\&M department, Liege, Belgium}
|
||||
|
||||
\maketitle
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
\begin{abstract}
|
||||
Tighter specifications in synchrotron instrumentation development force the design engineers more and more often to choose a mechatronics design approach.
|
||||
This includes actively controlled systems that need to be properly designed.
|
||||
The new Nano Active Stabilization System (NASS) for the ESRF beamline ID31 was designed with such an approach.
|
||||
|
||||
We chose a multi-body design modelling approach for the development of the NASS end-station.
|
||||
Significance of such models depend strongly on its input and consideration of the right stiffness of the system's components and subsystems.
|
||||
For that matter, we considered sub-components in the multi-body model as \emph{reduced order flexible bodies} representing the component's modal behaviour with reduced mass and stiffness matrices obtained from finite element analysis (FEA) models.
|
||||
These matrices were created from FEA models via modal reduction techniques, more specifically the component mode synthesis (CMS).
|
||||
This makes this design approach a combined multibody-FEA technique.
|
||||
|
||||
We validated the technique with a test bench that confirmed the good modelling capabilities using reduced order flexible body models obtained from FEA for an amplified piezoelectric actuator (APA).
|
||||
\end{abstract}
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
\section{Introduction}
|
||||
To meet it's tight requirements in terms of precision and stability, a ``model based design'' approach was chosen for the development of the new ID31 end-station \cite{Dehaeze2018}.
|
||||
This type of design approach joins the need for dynamical models to test control architectures and to help specifying the requirements in the detail design stage.
|
||||
|
||||
We used a \textit{MATLAB Simscape} multibody model for the detailed modular based design which is used to simulate the dynamical behaviour of the system.
|
||||
These models consist of \textit{SIMULINK}-typical blocks, each representing one body or link.
|
||||
Such models were formerly limited to simple rigid bodies linked by ``weak'' links.
|
||||
They can be used as a first approximation.
|
||||
However, performances are often limited by resonances of flexible elements, i.e. the approximation by multiple solid bodies is not valid anymore.
|
||||
|
||||
Since recently, such \textit{Simscape} models can be extended by a block named ``Reduced Order Flexible Solid'' (see Fig.~\ref{fig:simscape_flexbody}).
|
||||
This body consists of several interface points (here 5 points) and reduced FEA stiffness $ \matr{\hat{K}}$ and mass matrices $ \matr{\hat{M}}$ that describe its dynamical characteristics.
|
||||
This extends the body's represented behaviour in the simulations from pure inertial rigid-body representation to elastically deformable behaviour.
|
||||
|
||||
\begin{figure}[ht]
|
||||
\centering
|
||||
\begin{subfigure}[b]{0.4\columnwidth}
|
||||
\includegraphics[width=\textwidth]{WEPB08_f1.png}
|
||||
\caption{Implementation of reduced order model in \textit{Simscape} multibody simulation block \cite{Matlab_flexBody_2021}.}
|
||||
\label{fig:simscape_flexbody}
|
||||
\end{subfigure}
|
||||
\hspace{0.02\columnwidth}
|
||||
\begin{subfigure}[b]{0.55\columnwidth}
|
||||
\includegraphics[width=\textwidth]{WEPB08_f2.png}
|
||||
\caption{Meshed FEA model of an amplified piezoelectric actuator. Number of nodes: $\approx~130\,000$.}
|
||||
\label{fig:APA_mesh}
|
||||
\end{subfigure}
|
||||
\caption{Flexible body used in a \textit{Simscape} model as a reduced model from a fully meshed FEA model.}
|
||||
\label{fig:superelement-impl}
|
||||
\end{figure}
|
||||
|
||||
\subsection{Application: Amplified Piezo Actuator}
|
||||
For the ID31 nano-end-station development we applied the FEA modal reduction technique to obtain reduced stiffness $ \matr{\hat{K}}$ and mass matrices $ \matr{\hat{M}}$ of key flexible components.
|
||||
This enables us to accurately model the dynamic behaviour of the end-station's nano-active-stabilization-syste (NASS) hexapod.
|
||||
We applied the method on the hexapod struts containing amplified piezo actuators (type APA300ML, \cite{Laluc2018}) and flexible joints.
|
||||
We model the APAs as reduced order flexible bodies, which is explained in this paper.
|
||||
Fig.~\ref{fig:APA_mesh} shows the fully meshed FEA model of the APA that we used for that matter.
|
||||
For the modal reduction of these APAs we used the commercial FEA software \textit{ANSYS}.
|
||||
The resulting data was used as in input in the \textit{Simscape} multibody analysis.
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
\section{REDUCTION OF AMPLIFIED PIEZO}
|
||||
We applied the modal reduction technique from FEA (also called component mode synthesis) for the reduction of the high number of FEA degrees of freedom (DoF) to a smaller number of retained degrees of freedom\footnote{Additional info on our applied procedure can be found in: \url{http://doi.org/10.5281/zenodo.5094419}}.
|
||||
For the example of the APA in Fig.~\ref{fig:APA_mesh} this results in a reduction from about $\num{130000}\times3=390k$ DoF of the 3D FEA model down to only tens of DoFs, as explained in the next section.
|
||||
This reduced amount of DoF makes the model easy to integrate in a multibody simulation.
|
||||
|
||||
\subsection{FEA Modal reduction model}
|
||||
The \textit{ANSYS} FEA model used for the modal reduction is shown with the used meshed in Fig.~\ref{fig:APA300ML_SE}.
|
||||
The points A to E mark the interfaces that were linked via a multi-point-constraint to a pilot node (called remote points in \textit{ANSYS}) on respective reference locations, as explained in the provided appendices.
|
||||
This couples the movement of the chosen interfaces to the pilot nodes.
|
||||
|
||||
\begin{figure}[ht]
|
||||
\centering
|
||||
\begin{subfigure}[h]{\columnwidth}
|
||||
\centering
|
||||
\includegraphics[width=0.9\textwidth]{WEPB08_f3.pdf}
|
||||
\caption{ANSYS modal reduction model with labeled retained interface ``remote points'' (A to E). \label{fig:APA300ML_SE}}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}[h]{\columnwidth}
|
||||
\centering
|
||||
\includegraphics[width=0.9\textwidth]{WEPB08_f4.png}
|
||||
\caption{Modal analysis total deformation results. The plot shows the first mode at $f_1=\SI{95.9}{Hz}$ from FEA with \SI{5}{kg} point mass attached to top node. Bottom node fixed and top node only free in z-direction. \label{fig:APA300ML_1stMode}}
|
||||
\end{subfigure}
|
||||
\caption{Super element generation model and first mode from FEA.}
|
||||
\end{figure}
|
||||
|
||||
The modal reduction was then performed retaining only the 6 DoFs of each of the 5 shown points, thus resulting in $m=6 \times 5=30$ retained physical DoFs.
|
||||
In addition, $p=6$ additional Eigenmodes were retained, creating 6 additional generalized coordinates.
|
||||
This procedure results in the reduced mass $\matr{\hat{M}}$ and stiffness matrices $\matr{\hat{K}}$ to be both square-matrices of length size $(m+p) \times (m+p) = 36 \times 36$.
|
||||
Thus the whole flexible behaviour of the reduced APA is now represented by these 36 DoFs.
|
||||
We used the ``fixed-interface method'', also called ``Craig-Bampton-method'' for the reduction \cite{ANSYS20R2_MAPDL_Th,Craig1968}.
|
||||
|
||||
Table~\ref{tab:mat-props} lists the material properties used for the reduction model.
|
||||
The stainless steel properties were fixed for the frame, whereas the Young's modulus $E$ for the piezo-eletric material PZT was obtained by matching the vendors specifications\footnote{Specifications APA300ML: \url{https://www.cedrat-technologies.com/fileadmin/datasheets/APA300ML.pdf} (last accessed 26/3/2021)} in terms of linear static stiffness ($k_{s}=\SI{1.79}{\newton\per\micro\meter}$) free-free Eigenfrequency and blocked-free Eigenfrequency as good as possible.
|
||||
The result is typical for PZT data.
|
||||
|
||||
% Please add the following required packages to your document preamble:
|
||||
% \usepackage{booktabs}
|
||||
\begin{table}
|
||||
\centering
|
||||
\caption{Material properties used for the FEA modal reduction model in Fig.~\ref{fig:APA300ML_SE}. Stated data: Young's modulus $E$, Poisson ratio $\nu$ and density $\rho$.}
|
||||
\label{tab:mat-props}
|
||||
\begin{tabular}{@{}lccc@{}}
|
||||
\toprule
|
||||
& $ E $ & $ \nu $ & $ \rho $ \\
|
||||
& \si{GPa} & \si{-} & \si{kg \per m^3} \\ \midrule
|
||||
Stainless Steel & 190 & \multirow{2}{*}{0.31} & \multirow{2}{*}{7800} \\
|
||||
Piezoelectric Ceramics (PZT) & 49.5 & & \\ \bottomrule
|
||||
\end{tabular}
|
||||
\end{table}
|
||||
|
||||
% Thomas's comment: not sure I understand why this is useful. We already matches the axial stiffness right? So there is no point of further compare the resonance frequency.
|
||||
We confirmed the model by verifying also the first Eigenfrequency for the blocked-free condition and an added load of $m=\SI{5}{kg}$ to the top.
|
||||
The result is shown in Fig.~\ref{fig:APA300ML_1stMode}. From the vendors specifications for stiffness and given load this should result in
|
||||
\begin{equation}
|
||||
f_1=\frac{1}{2\pi} \sqrt{\frac{k_s}{m}} = \SI{95.3}{Hz},
|
||||
\end{equation}
|
||||
which is very close the calculated FEA result for the discrete model of $f_{1,FEA}=\SI{95.9}{Hz}$.
|
||||
|
||||
|
||||
|
||||
\subsection{Test-bench for model validation}
|
||||
|
||||
A test bench shown in Fig.~\ref{fig:testbench-schema} was used to identify the dynamical behavior of the APA and to validate the reduced order model of the APA.
|
||||
To do so, a \textit{Simscape} model of this bench was developed with the APA being modeled with the reduced order model.
|
||||
Both measured dynamics can then be compared.
|
||||
|
||||
\begin{figure}[h]
|
||||
\centering
|
||||
\includegraphics[width=0.95\columnwidth]{WEPB08_f5.pdf}
|
||||
\caption{Schematic of the test bench used.}
|
||||
\label{fig:testbench-schema}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure*}[ht]
|
||||
\centering
|
||||
\begin{subfigure}[b]{0.45\textwidth}
|
||||
\centering
|
||||
\includegraphics[scale=0.75]{WEPB08_f6.pdf}
|
||||
\caption{FRF: from actuator voltage to sensor voltage.}
|
||||
\label{fig:comp_apa_force}
|
||||
\end{subfigure}
|
||||
\hspace{0.02\columnwidth}
|
||||
\begin{subfigure}[b]{0.45\textwidth}
|
||||
\centering
|
||||
\includegraphics[scale=0.75]{WEPB08_f7.pdf}
|
||||
\caption{FRF: from actuator voltage to displacement.}
|
||||
\label{fig:comp_apa_enc}
|
||||
\end{subfigure}
|
||||
\caption{Frequency response functions (FRF) of experimental results in comparison with simulations using reduced order model from FEA.}
|
||||
\label{fig:comp_apa_plant}
|
||||
\end{figure*}
|
||||
|
||||
Depending on the application, one can draw advantage of the fact that the APAs (the trapezoïd in Fig.~\ref{fig:testbench-schema}) consist of 3 piezoelectric stacks in series.
|
||||
To obtain information on the compression/extension of the whole APA, one piezo stack is used as a force sensor, and 2 stacks as force actuator by wiring them separately (cf. Fig.~\ref{fig:testbench-schema} and technique from \cite{Souleille2018}).
|
||||
|
||||
In order to measure the dynamics of the APA, a digital to analog converter is used to generate a low pass filtered excitation signal $V_a$ which is applied to the two actuator stacks.
|
||||
The voltage generated by the force sensor stack $V_s$ as well as the vertical displacement $d_e$ measured by the encoder are recorded simultaneously.
|
||||
|
||||
Then, two Frequency response Functions (FRF) can be computed:
|
||||
\begin{enumerate}
|
||||
\item actuator voltage to sensor voltage (Fig.~\ref{fig:comp_apa_force}) $V_s/V_a (s)$,
|
||||
\item actuator voltage to displacement (Fig.~\ref{fig:comp_apa_enc}) $d_e/V_a (s)$.
|
||||
\end{enumerate}
|
||||
The comparison of experimental data \textcolor[rgb]{0,0.447,0.741}{(blue line)} with the simulation \textcolor[rgb]{0.851,0.325,0.098}{(red dashed line)} using the reduced order model reveals sufficient agreement for both FRFs to confirm the use of the model for further dynamical analysis using this procedure.
|
||||
|
||||
It is found that the open-loop transfer function from $V_a$ to $V_s$ is very typical for APA \cite[Fig. 3]{Souleille2018}.
|
||||
Therefore, the force sensor stack can be used to actively damp the resonance of the APA at around $f_1\approx \SI{95}{Hz}$ using a technique called ``Integral Force Feedback''.
|
||||
This technique does not compromise the high-frequency isolation as compared with passive damping techniques and is used in the concerned project's nano-hexapod \cite{Dehaeze2021}.
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
\section{CONCLUSION}
|
||||
|
||||
Modal reduction of finite element models to a more practical reduced number of DoFs make implementation of flexible bodies of any geometry in multibody models possible.
|
||||
The user can decide to perform the modal reduction to include a desired number of Eigenmodes and frequencies in the reduced order model.
|
||||
The application of this technique for the design of the nano-endstation project was very promising and validated on a test bench.
|
||||
|
||||
One limitation regarding the response of the reduced model is the unknown damping.
|
||||
Such damping can however be experimentally estimated if the parts are previously available.
|
||||
Also, the reduction procedure is limited to linear behaviour of FEA models due to the reduction procedure via linear modal analysis.
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
\section{ACKNOWLEDGEMENTS}
|
||||
We thank the precision electronics lab (PEL) team (L. Ducotte and H.-P. Van der Kleij) for providing us with the necessary space and equipment to perform the model tests.
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
% Bibliography
|
||||
\printbibliography
|
||||
|
||||
|
||||
\end{document}
|
||||
476
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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||||
\RequirePackage{url}
|
||||
\AtEndPreamble{\RequirePackage[autostyle]{csquotes}}
|
||||
|
||||
|
||||
% Page layout:
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
\columnseprule 0pt
|
||||
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|
||||
\setlength{\footnotemargin}{.6em}
|
||||
|
||||
|
||||
\pagestyle{empty}
|
||||
|
||||
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|
||||
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|
||||
{ \catcode`\^^^=9
|
||||
}
|
||||
|
||||
\ifboolexpr{bool{xetex} or bool{luatex}}
|
||||
{ \let\ori@vdots\vdots
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
|
||||
\RequirePackage{microtype}
|
||||
%Lists
|
||||
|
||||
\RequirePackage{enumitem}
|
||||
\newenvironment{Enumerate}{\begin{enumerate}[nosep]}{\end{enumerate}}
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||||
\newenvironment{Itemize}{\begin{itemize}[nosep]}{\end{itemize}}
|
||||
\newenvironment{Description}{\begin{description}[nosep]}{\end{description}}
|
||||
|
||||
|
||||
%Floatparameter:
|
||||
\renewcommand{\topfraction}{.95}
|
||||
\renewcommand{\bottomfraction}{.95}
|
||||
\renewcommand{\textfraction}{0.1}
|
||||
\renewcommand{\floatpagefraction}{0.8}
|
||||
|
||||
|
||||
%headings:
|
||||
% section: Uppercase only for text
|
||||
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|
||||
{%
|
||||
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|
||||
{2.0ex plus 0.8ex minus .1ex}{1.0ex plus .2ex}
|
||||
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|
||||
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|
||||
|
||||
\renewcommand\subsection
|
||||
{%
|
||||
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|
||||
{1.4ex plus .8ex minus .17ex}{0.8ex plus .17ex}
|
||||
{\normalfont\large\itshape}%
|
||||
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|
||||
|
||||
\renewcommand\subsubsection
|
||||
{%
|
||||
\@startsection{subsubsection}{3}{\parindent}
|
||||
{2.5ex plus .7ex minus .17ex}{-1em}
|
||||
{\normalfont\normalsize\bfseries}%
|
||||
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|
||||
|
||||
\renewcommand\paragraph
|
||||
{%
|
||||
\@startsection{paragraph}{4}{\z@}
|
||||
{2.5ex plus .7ex minus .17ex}{-1em}
|
||||
{\normalfont\normalsize\itshape}%
|
||||
}
|
||||
|
||||
\renewcommand\subparagraph
|
||||
{%
|
||||
\@startsection{subparagraph}{4}{\parindent}
|
||||
{2.25ex plus .7ex minus .17ex}{-1em}
|
||||
{\normalfont\normalsize\bfseries}%
|
||||
}
|
||||
|
||||
\setcounter{secnumdepth}{0}
|
||||
|
||||
% This definition of \maketitle taken from article.sty, and has been
|
||||
% somewhat modified.
|
||||
|
||||
\def\maketitle{\par
|
||||
\begingroup
|
||||
\def\thefootnote{\fnsymbol{footnote}}
|
||||
\def\@makefnmark{\hbox
|
||||
to 5pt{$^{\@thefnmark}$\hss}}
|
||||
\twocolumn[\@maketitle]
|
||||
\@thanks
|
||||
\endgroup
|
||||
\enlargethispage{\jac@copyrightspace}%
|
||||
\setcounter{footnote}{0}
|
||||
\let\maketitle\relax
|
||||
\let\@maketitle\relax
|
||||
\gdef\@thanks{}\gdef\@author{}\gdef\@title{}\let\thanks\relax}
|
||||
|
||||
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|
||||
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|
||||
|
||||
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|
||||
\setlength\titleblockstartskip{3pt}
|
||||
|
||||
|
||||
\newlength\titleblockmiddleskip
|
||||
\setlength\titleblockmiddleskip{1em}
|
||||
|
||||
\newlength\titleblockendskip
|
||||
\setlength\titleblockendskip{1em}
|
||||
|
||||
|
||||
\def\@maketitle{%
|
||||
\vskip \titleblockstartskip \centering
|
||||
{\Large\bfseries \MakeTextUppercase{\@title} \par}
|
||||
\vskip \titleblockmiddleskip % Vertical space after title.
|
||||
{\large\begin{tabular}[t]{@{}c@{}}\@author \end{tabular}\par}
|
||||
\vskip \titleblockendskip}
|
||||
|
||||
|
||||
% The \copyrightspace command is used to produce a blank space in the first
|
||||
% column where a copyright notice may go. It works by producing
|
||||
% with \enlargethispage and is inserted by \maketitle.
|
||||
% The command should be issued in the preamble.
|
||||
|
||||
\newcommand\jac@copyrightspace{0pt}
|
||||
\newcommand\copyrightspace[1][1cm]{\renewcommand\jac@copyrightspace{-#1}}
|
||||
|
||||
\ifboolexpr{bool{@titlepage}}
|
||||
{\renewenvironment{abstract}
|
||||
{\list{}{%
|
||||
\setlength{\leftmargin}{\dimexpr\textwidth/2-0.75\columnwidth}%
|
||||
\setlength{\rightmargin}{\dimexpr-0.75\columnwidth-\columnsep}%
|
||||
\setlength{\listparindent}{\parindent}%
|
||||
\setlength{\itemsep}{\parskip}%
|
||||
\setlength{\itemindent}{\z@}%
|
||||
\setlength{\topsep}{\z@}%
|
||||
\setlength{\parsep}{\parskip}%
|
||||
\setlength{\partopsep}{\z@}%
|
||||
\let\makelabel\@gobble
|
||||
\setlength{\labelwidth}{\z@}%
|
||||
\advance\@listdepth\m@ne }%
|
||||
\item\relax\subsection*{Abstract}}
|
||||
{\endlist\clearpage}
|
||||
}
|
||||
{%
|
||||
\renewenvironment{abstract}
|
||||
{\subsection*{Abstract}}
|
||||
{\par}
|
||||
}
|
||||
\ifboolexpr{bool{jacowbiblatex}}
|
||||
%2.00 {\RequirePackage[style=ieee,sorting=none,giveninits=true,doi=false,maxnames=6,minnames=1]{biblatex}
|
||||
%2.1 {\RequirePackage[style=ieee,sorting=none,giveninits=true,maxnames=6,minnames=1]{biblatex}
|
||||
%2.2
|
||||
{\RequirePackage[bibstyle=ieee,citestyle=numeric-comp,dashed=false,sorting=none,giveninits=true,maxnames=6,minnames=1]{biblatex}
|
||||
\renewbibmacro*{url+urldate}{%
|
||||
\iffieldundef{url}
|
||||
{}
|
||||
{\printfield{url}%
|
||||
\nopunct}}%
|
||||
\DeclareFieldFormat{url}{\url{#1}}
|
||||
\DeclareFieldFormat{eprint}{#1}
|
||||
%% when to activate this? Paper format acus/letter
|
||||
% \DefineBibliographyExtras{american}{\stdpunctuation} % mod
|
||||
% Drop urls for article and inproceedings entries
|
||||
%2.00 \DeclareFieldFormat
|
||||
%2.00 [article,inproceedings]
|
||||
%2.00 {url}{}
|
||||
%
|
||||
\setlength\bibitemsep{0pt}
|
||||
\setlength\bibparsep{0pt}
|
||||
\setlength\biblabelsep{5pt}
|
||||
\ifjacowrefpage\preto\blx@bibliography{\clearpage}\fi
|
||||
\AtBeginBibliography{\small\clubpenalty4000\widowpenalty4000}%
|
||||
}
|
||||
{\RequirePackage{cite}
|
||||
% Redefine to use smaller fonts
|
||||
\def\thebibliography#1{\setlength{\itemsep}{0pt}\setlength{\parsep}{0pt}%
|
||||
\ifjacowrefpage\clearpage\fi
|
||||
\section*{REFERENCES\@mkboth
|
||||
{REFERENCES}{REFERENCES}}\small\list
|
||||
{[\arabic{enumi}]}{\settowidth\labelwidth{[#1]}\leftmargin\labelwidth
|
||||
\advance\leftmargin\labelsep
|
||||
\usecounter{enumi}}
|
||||
\def\newblock{\hskip .11em plus .33em minus .07em}
|
||||
\sloppy\clubpenalty4000\widowpenalty4000
|
||||
\sfcode`\.=1000\relax}
|
||||
\let\endthebibliography=\endlist
|
||||
}
|
||||
|
||||
|
||||
%\sloppy
|
||||
\clubpenalty10000\widowpenalty10000
|
||||
\flushbottom
|
||||
%-----------------------------------------------------------------------
|
||||
|
||||
%avoid bug of fixltx2e:
|
||||
%http://www.latex-project.org/cgi-bin/ltxbugs2html?pr=latex/4023
|
||||
\RequirePackage{fixltx2e}%
|
||||
\def\@outputdblcol{%
|
||||
\if@firstcolumn
|
||||
\global\@firstcolumnfalse
|
||||
\global\setbox\@leftcolumn\copy\@outputbox
|
||||
\splitmaxdepth\maxdimen
|
||||
\vbadness\maxdimen
|
||||
\setbox\@outputbox\vbox{\unvbox\@outputbox\unskip}%new
|
||||
\setbox\@outputbox\vsplit\@outputbox to\maxdimen
|
||||
\toks@\expandafter{\topmark}%
|
||||
\xdef\@firstcoltopmark{\the\toks@}%
|
||||
\toks@\expandafter{\splitfirstmark}%
|
||||
\xdef\@firstcolfirstmark{\the\toks@}%
|
||||
\ifx\@firstcolfirstmark\@empty
|
||||
\global\let\@setmarks\relax
|
||||
\else
|
||||
\gdef\@setmarks{%
|
||||
\let\firstmark\@firstcolfirstmark
|
||||
\let\topmark\@firstcoltopmark}%
|
||||
\fi
|
||||
\else
|
||||
\global\@firstcolumntrue
|
||||
\setbox\@outputbox\vbox{%
|
||||
\hb@xt@\textwidth{%
|
||||
\hb@xt@\columnwidth{\box\@leftcolumn \hss}%
|
||||
\hfil
|
||||
\vrule \@width\columnseprule
|
||||
\hfil
|
||||
\hb@xt@\columnwidth{\box\@outputbox \hss}}}%
|
||||
\@combinedblfloats
|
||||
\@setmarks
|
||||
\@outputpage
|
||||
\begingroup
|
||||
\@dblfloatplacement
|
||||
\@startdblcolumn
|
||||
\@whilesw\if@fcolmade \fi{\@outputpage\@startdblcolumn}%
|
||||
\endgroup
|
||||
\fi}
|
||||
|
||||
\endinput
|
||||
206
paper/ref.bib
Normal file
206
paper/ref.bib
Normal file
@ -0,0 +1,206 @@
|
||||
@online{jacow-help,
|
||||
author = "JACoW",
|
||||
title = "JACoW website",
|
||||
url = {http://www.jacow.org},
|
||||
year = {2021}
|
||||
}
|
||||
|
||||
@manual{IEEE,
|
||||
author = {IEEE},
|
||||
title = {IEEE Editorial Style Manual},
|
||||
url = "http://www.jacow.org",
|
||||
journal = {IEEE Periodicals, Piscataway},
|
||||
pages = "pp. 34--52",
|
||||
month = {10},
|
||||
year = {2014},
|
||||
location = {NJ, USA}
|
||||
}
|
||||
|
||||
@manual{ANSYS20R2_MAPDL_Sub,
|
||||
%author={ANSYS Inc.},
|
||||
addendum = {ANSYS Inc.},
|
||||
title = "{Ansys\textregistered \, Academic Research Mechanical APDL, Release 2020 R2, Help System}",
|
||||
year = 2020,
|
||||
subtitle = {Substructuring Analysis Guide},
|
||||
% = {},
|
||||
%urldate = {2020-10-23},
|
||||
}
|
||||
|
||||
@manual{ANSYS20R2_MAPDL_Th,
|
||||
%author={ANSYS Inc.},
|
||||
addendum = "{ANSYS} {I}nc.",
|
||||
title = "{Ansys\textregistered \, Academic Research Mechanical APDL, Release 2020 R2, Help System}",
|
||||
subtitle = {Theory Reference},
|
||||
titleaddon = {15.6. Substructuring Analysis},
|
||||
year = 2020,
|
||||
% = {},
|
||||
%urldate = {2020-10-23},
|
||||
}
|
||||
|
||||
@article{Claeyssen2007,
|
||||
title = {Amplified {{Piezoelectric Actuators}}: {{Static}} \& {{Dynamic Applications}}},
|
||||
shorttitle = {Amplified {{Piezoelectric Actuators}}},
|
||||
author = {Claeyssen, Frank and Letty, R. Le and Barillot, F. and Sosnicki, O.},
|
||||
date = {2007-06-08},
|
||||
journaltitle = {Ferroelectrics},
|
||||
shortjournal = {Ferroelectrics},
|
||||
volume = {351},
|
||||
pages = {3--14},
|
||||
issn = {0015-0193, 1563-5112},
|
||||
doi = {10.1080/00150190701351865}
|
||||
}
|
||||
|
||||
@article{Craig1968,
|
||||
title = {Coupling of Substructures for Dynamic Analyses},
|
||||
author = {Craig, Roy R. and Bampton, Mervyn C. C.},
|
||||
year = {1968},
|
||||
month = jul,
|
||||
volume = {6},
|
||||
pages = {1313--1319},
|
||||
issn = {0001-1452, 1533-385X},
|
||||
doi = {10.2514/3.4741},
|
||||
journal = {AIAA Journal},
|
||||
keywords = {component mode synthesis (CMS),Craig-Bampton method,FEA,mechanics,modal reduction,substructuring},
|
||||
language = {en},
|
||||
number = {7}
|
||||
}
|
||||
|
||||
@article{Dehaeze2018,
|
||||
title = {Sample {{Stabilization}} for {{Tomography Experiments}} in {{Presence}} of {{Large Plant Uncertainty}}},
|
||||
author = {Dehaeze, Thomas and Collette, Christophe and Magnin-Mattenet, Muriel},
|
||||
date = {2018},
|
||||
journaltitle = {Proc. of MEDSI},
|
||||
volume = {MEDSI2018},
|
||||
pages = {153--157},
|
||||
doi = {10.18429/jacow-medsi2018-weoama02},
|
||||
urldate = {2019-01-03},
|
||||
langid = {american}
|
||||
}
|
||||
|
||||
@article{Dehaeze2021,
|
||||
title = {Mechatronics {Approach} for the {Development} of a {Nano-Active-Stabilization-System}},
|
||||
author = {Dehaeze, Thomas and Bonnefoy, Julien and Collette, Christophe},
|
||||
date = {2021},
|
||||
journaltitle = {Proc. of MEDSI},
|
||||
volume = {MEDSI2021},
|
||||
note = {under edit}
|
||||
%pages = {153--157},
|
||||
%doi = {10.18429/jacow-medsi2018-weoama02},
|
||||
%urldate = {2019-01-03},
|
||||
%langid = {american}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@book{Genta2012,
|
||||
title = {Introduction {To The Mechanics Of Space Robots}},
|
||||
author = {Genta, G.},
|
||||
year = {2012},
|
||||
publisher = {Springer},
|
||||
address = {Dordrecht [Netherlands] ; New York},
|
||||
annotation = {OCLC: ocn733242192},
|
||||
isbn = {978-94-007-1795-4},
|
||||
keywords = {Design and construction,Robots,Space environment,Space robotics,state space model},
|
||||
lccn = {TL1097 .G46 2012},
|
||||
number = {26},
|
||||
series = {Space Technology Library}
|
||||
}
|
||||
|
||||
@article{Guyan1965,
|
||||
title = {Reduction of Stiffness and Mass Matrices},
|
||||
author = {Guyan, Robert J.},
|
||||
year = {1965},
|
||||
month = feb,
|
||||
volume = {3},
|
||||
pages = {380--380},
|
||||
issn = {0001-1452, 1533-385X},
|
||||
doi = {10.2514/3.2874},
|
||||
journal = {AIAA Journal},
|
||||
keywords = {FEA,Guyan-reduction,mechatronics,modal reduction},
|
||||
language = {en},
|
||||
number = {2}
|
||||
}
|
||||
|
||||
@article{Laluc2018,
|
||||
title = {Piezo {{Technology}} in {{Synchrotron}}},
|
||||
author = {Laluc, Boris and Maillard, Thomas and Riquer, AuréLien},
|
||||
date = {2018},
|
||||
journaltitle = {Proc. of MEDSI},
|
||||
volume = {MEDSI2018},
|
||||
pages = {321--323},
|
||||
publisher = {{JACoW Publishing, Geneva, Switzerland}},
|
||||
doi = {10.18429/JACOW-MEDSI2018-THOPMA01},
|
||||
}
|
||||
|
||||
@book{Matlab2020,
|
||||
author = {MATLAB},
|
||||
title = {version 9.9.0 (R2020b)},
|
||||
year = 2020,
|
||||
publisher = {The MathWorks Inc.},
|
||||
address = {Natick, Massachusetts},
|
||||
}
|
||||
|
||||
@manual{Matlab_flexBody_2021,
|
||||
addendum = {\textit{MATLAB}, version 9.10.0 (R2021a)},
|
||||
title = {\textit{MATLAB} Documentation},
|
||||
subtitle = {{Reduced Order Flexible Solid - Flexible body based on a reduced-order model}},
|
||||
year = 2021,
|
||||
url = {https://www.mathworks.com/help/physmod/sm/ref/reducedorderflexiblesolid.html},
|
||||
urldate = {2021-03-19},
|
||||
}
|
||||
|
||||
|
||||
@article{Miller2017,
|
||||
author = {Miller, S. and Soares, T. and Van Weddingen, Y. and Wendlandt, J.},
|
||||
title = {{Modeling Flexible Bodies with Simscape Multibody Software}},
|
||||
date = {2017},
|
||||
publisher = {The MathWorks Inc.},
|
||||
journaltitle = {MathWorks Technical Paper},
|
||||
url = {https://www.mathworks.com/campaigns/offers/model-flexible-bodies.html?elqCampaignId=10588},
|
||||
urldate = {2021-03-19}
|
||||
}
|
||||
|
||||
@article{Preumont2007,
|
||||
title = {A Six-Axis Single-Stage Active Vibration Isolator Based on {{Stewart}} Platform},
|
||||
author = {Preumont, A. and Horodinca, M. and Romanescu, I. and de Marneffe, B. and Avraam, M. and Deraemaeker, A. and Bossens, F. and Abu Hanieh, A.},
|
||||
date = {2007-03},
|
||||
journaltitle = {Journal of Sound and Vibration},
|
||||
shortjournal = {Journal of Sound and Vibration},
|
||||
volume = {300},
|
||||
pages = {644--661},
|
||||
issn = {0022460X},
|
||||
doi = {10.1016/j.jsv.2006.07.050},
|
||||
number = {3-5}
|
||||
}
|
||||
|
||||
@book{Shetty2010,
|
||||
title={Mechatronics System Design},
|
||||
author={Shetty, D. and Kolk, R.A.},
|
||||
isbn={9781133169482},
|
||||
year={2010},
|
||||
publisher={Cengage Learning}
|
||||
}
|
||||
|
||||
@misc{Simulink2020,
|
||||
title={Simulation and Model-Based Design},
|
||||
author={Documentation, Simulink},
|
||||
publisher={MathWorks},
|
||||
year={2020},
|
||||
url={https://www.mathworks.com/products/simulink.html}
|
||||
}
|
||||
|
||||
|
||||
@article{Souleille2018,
|
||||
title = {A concept of active mount for space applications},
|
||||
volume = {10},
|
||||
issn = {1868-2502, 1868-2510},
|
||||
url = {http://link.springer.com/10.1007/s12567-017-0180-6},
|
||||
doi = {10.1007/s12567-017-0180-6},
|
||||
pages = {157--165},
|
||||
number = {2},
|
||||
journaltitle = {{CEAS} Space Journal},
|
||||
shortjournal = {{CEAS} Space J},
|
||||
author = {Souleille, A. and Lampert, T. and Lafarga, V. and Hellegouarch, S. and Rondineau, A. and Rodrigues, G. and Collette, C.},
|
||||
date = {2018-06},
|
||||
langid = {english},
|
||||
}
|
||||
1
readme.org
Symbolic link
1
readme.org
Symbolic link
@ -0,0 +1 @@
|
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index.org
|
||||
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