Update PDF file

This commit is contained in:
Thomas Dehaeze 2021-11-30 11:29:43 +01:00
parent 8292a1006e
commit e3e90873d9
2 changed files with 19 additions and 3 deletions

View File

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

Binary file not shown.