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Thomas Dehaeze 2021-11-30 11:29:43 +01:00
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2 changed files with 19 additions and 3 deletions

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@ -22,6 +22,7 @@
#+PROPERTY: header-args:matlab+ :comments org #+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :results none #+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :noweb yes #+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:matlab+ :mkdirp yes
@ -47,12 +48,23 @@
<hr> <hr>
#+end_export #+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 * System Kinematics
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/dcm_kinematics.m :header-args:matlab+: :tangle matlab/dcm_kinematics.m
:END: :END:
<<sec:dcm_kinematics>>
** Introduction :ignore: ** Introduction :ignore:
** Matlab Init :noexport: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') save('mat/dcm_kinematics.mat', 'J_a_111', 'J_s_111')
#+end_src #+end_src
* System Identification * Open Loop System Identification
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/dcm_identification.m :header-args:matlab+: :tangle matlab/dcm_identification.m
:END: :END:
<<sec:open_loop_identification>>
** Introduction :ignore: ** Introduction :ignore:
** Matlab Init :noexport:ignore: ** Matlab Init :noexport:ignore:
#+begin_src matlab #+begin_src matlab
@ -680,10 +693,11 @@ Here, we map the piezo forces at the center of stiffness.
Let's first compute the Jacobian: Let's first compute the Jacobian:
* Active Damping Plant (Strain gauge) * Active Damping Plant (Strain gauges)
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/dcm_active_damping_strain_gauges.m :header-args:matlab+: :tangle matlab/dcm_active_damping_strain_gauges.m
:END: :END:
<<sec:active_damping_strain_gauges>>
** Introduction :ignore: ** Introduction :ignore:
In this section, we wish to see whether if strain gauges fixed to the piezoelectric actuator can be used for active damping. 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: :PROPERTIES:
:header-args:matlab+: :tangle matlab/dcm_active_damping_iff.m :header-args:matlab+: :tangle matlab/dcm_active_damping_iff.m
:END: :END:
<<sec:active_damping_iff>>
** Introduction :ignore: ** Introduction :ignore:
Force sensors are added above the piezoelectric actuators. Force sensors are added above the piezoelectric actuators.
They can consists of a simple piezoelectric ceramic stack. They can consists of a simple piezoelectric ceramic stack.
@ -1078,6 +1093,7 @@ save('mat/Kiff.mat', 'Kiff');
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/dcm_hac_iff.m :header-args:matlab+: :tangle matlab/dcm_hac_iff.m
:END: :END:
<<sec:hac_iff>>
** Introduction :ignore: ** Introduction :ignore:
** Matlab Init :noexport:ignore: ** Matlab Init :noexport:ignore:
#+begin_src matlab #+begin_src matlab

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