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@ -22,6 +22,7 @@
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :tangle no
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :noweb yes
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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@ -47,12 +48,23 @@
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<hr>
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#+end_export
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\clearpage
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#+latex: \clearpage
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* Introduction :ignore:
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In this document, a Simscape (.e.g. multi-body) model of the ESRF Double Crystal Monochromator (DCM) is presented and used to develop and optimize the control strategy.
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It is structured as follow:
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- Section [[sec:dcm_kinematics]]: the kinematics of the DCM is presented, and Jacobian matrices which are used to solve the inverse and forward kinematics are computed.
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- Section [[sec:open_loop_identification]]: the system dynamics is identified in the absence of control.
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- Section [[sec:active_damping_strain_gauges]]: it is studied whether if the strain gauges fixed to the piezoelectric actuators can be used to actively damp the plant.
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- Section [[sec:active_damping_iff]]: piezoelectric force sensors are added in series with the piezoelectric actuators and are used to actively damp the plant using the Integral Force Feedback (IFF) control strategy.
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- Section [[sec:hac_iff]]: the High Authority Control - Low Authority Control (HAC-LAC) strategy is tested on the Simscape model.
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* System Kinematics
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/dcm_kinematics.m
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:END:
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<<sec:dcm_kinematics>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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@ -375,10 +387,11 @@ save('matlab/mat/dcm_kinematics.mat', 'J_a_111', 'J_s_111')
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save('mat/dcm_kinematics.mat', 'J_a_111', 'J_s_111')
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#+end_src
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* System Identification
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* Open Loop System Identification
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/dcm_identification.m
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:END:
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<<sec:open_loop_identification>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab
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@ -680,10 +693,11 @@ Here, we map the piezo forces at the center of stiffness.
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Let's first compute the Jacobian:
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* Active Damping Plant (Strain gauge)
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* Active Damping Plant (Strain gauges)
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/dcm_active_damping_strain_gauges.m
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:END:
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<<sec:active_damping_strain_gauges>>
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** Introduction :ignore:
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In this section, we wish to see whether if strain gauges fixed to the piezoelectric actuator can be used for active damping.
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@ -796,6 +810,7 @@ xlim([freqs(1), freqs(end)]);
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/dcm_active_damping_iff.m
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:END:
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<<sec:active_damping_iff>>
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** Introduction :ignore:
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Force sensors are added above the piezoelectric actuators.
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They can consists of a simple piezoelectric ceramic stack.
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@ -1078,6 +1093,7 @@ save('mat/Kiff.mat', 'Kiff');
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/dcm_hac_iff.m
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:END:
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<<sec:hac_iff>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab
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dcm-simscape.pdf
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dcm-simscape.pdf
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