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differ diff --git a/tikz/figs/system_iff.png b/tikz/figs/system_iff.png index f4740a1..cf0206a 100644 Binary files a/tikz/figs/system_iff.png and b/tikz/figs/system_iff.png differ diff --git a/tikz/figs/system_iff.svg b/tikz/figs/system_iff.svg index 745dcd5..d14360a 100644 Binary files a/tikz/figs/system_iff.svg and b/tikz/figs/system_iff.svg differ diff --git a/tikz/figs/system_parallel_springs.pdf b/tikz/figs/system_parallel_springs.pdf index bba158a..4bfc939 100644 Binary files a/tikz/figs/system_parallel_springs.pdf and b/tikz/figs/system_parallel_springs.pdf differ diff --git a/tikz/index.org b/tikz/index.org index fb5dc9f..16c565d 100644 --- a/tikz/index.org +++ b/tikz/index.org @@ -66,10 +66,6 @@ Configuration file is accessible [[file:config.org][here]]. \draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6); \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6); \draw[damper={8}{8}] (cv) -- node[left=0.1, rotate=\thetau]{$c$} (cv|-0,-2.6); - - % % Displacement measurement - % \draw[<->, dashed] (-2.6, -0.8) --node[midway, below, rotate=\thetau]{$d_u$} (-1 , -0.8); - % \draw[<->, dashed] ( 0.8, -2.6) --node[midway, right, rotate=\thetau]{$d_v$} ( 0.8, -1); \end{scope} % Inertial Frame @@ -78,11 +74,12 @@ Configuration file is accessible [[file:config.org][here]]. \draw[fill, color=black] (-4, -4) circle (0.06); \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){}; - \draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; + \draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$}; + \draw[fill, color=black] (0,0) circle (0.06); + \node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){}; \draw[dashed] (0, 0) -- ++(2, 0); \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$}; - \node[] at (0,0) {$\bullet$}; \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$}; \end{tikzpicture} @@ -91,6 +88,58 @@ Configuration file is accessible [[file:config.org][here]]. #+RESULTS: [[file:figs/system.png]] +* X-Y Rotating Positioning Platform +#+begin_src latex :file control_diagram_iff.pdf + \begin{tikzpicture} + % Blocs + \node[block={2.0cm}{2.0cm}] (P) {$\bm{G}_{f}$}; + \node[above] at (P.north) {Plant}; + \node[block={1.5cm}{1.5cm}, below=1.2 of P] (K) {$\begin{bmatrix}K_F & 0 \\ 0 & K_F\end{bmatrix}$}; + \node[above, align=center] at (K.north) {Decentralized\\Controller}; + + % Connections and labels + \draw[<-] (P.west) node[above left]{ $\begin{bmatrix}F_u \\ F_v\end{bmatrix}$} node[below left]{$-$} -- ++(-1.2, 0) |- (K.west); + \draw[->] (P.east) node[above right]{$\begin{bmatrix}f_u \\ f_v\end{bmatrix}$} -- ++(1.2, 0) |- (K.east); + \end{tikzpicture} +#+end_src + +#+begin_src latex :file control_diagram_iff.pdf + \tikzset{block/.default={0.8cm}{0.8cm}} + \tikzset{addb/.append style={scale=0.7}} + \tikzset{node distance=0.6} + + \begin{tikzpicture} + \node[block={1.8cm}{2.2cm}] (G) {$\bm{G}_f$}; + + % Inputs of the controllers + \coordinate[] (output1) at ($(G.south east)!0.75!(G.north east)$); + \coordinate[] (output2) at ($(G.south east)!0.25!(G.north east)$); + \coordinate[] (input1) at ($(G.south west)!0.75!(G.north west)$); + \coordinate[] (input2) at ($(G.south west)!0.25!(G.north west)$); + + \node[block, left=1.8 of input1] (K1) {$K_F$}; + \node[block] (K2) at ($(K1.east|-input2)+(0.6, 0)$) {$K_F$}; + + % Connections and labels + \draw[->] (K1.east) -- (input1)node[above left]{$F_u$}node[below left]{$-$}; + \draw[->] (K2.east) -- (input2)node[above left]{$F_v$}node[below left]{$-$}; + + \draw[->] (output1) -- ++(0.8, 0) node[above left]{$f_u$}; + \draw[->] (output2) -- ++(0.8, 0) node[above left]{$f_v$}; + + \draw[->] ($(output1)+(0.2, 0)$)node[branch]{} -- ++(0, 1.2) -| ($(K1.west) + (-0.8, 0)$)coordinate(start) -- (K1.west); + \draw[->] ($(output2)+(0.2, 0)$)node[branch]{} -- ++(0, -1.2) -| (start|-K2) -- (K2.west); + + \begin{scope}[on background layer] + \node[fit={(K1.north west) (K2.south east)}, inner sep=6pt, draw, dashed, fill=black!20!white] (K) {}; + \node[below left] at (K.north east) {$\bm{K}_F$}; + \end{scope} + \end{tikzpicture} +#+end_src + +#+RESULTS: +[[file:figs/control_diagram_iff.png]] + * X-Y Rotating Positioning Platform with Force Sensors #+begin_src latex :file system_force_sensors.pdf \begin{tikzpicture} @@ -208,11 +257,11 @@ Configuration file is accessible [[file:config.org][here]]. \node[block={0.8cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{F}$}; \draw[->] ($(au) + (-0.1, -0.5)$) |- (Ku.east) node[below right, rotate=\thetau]{$f_{u}$}; - \draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$}; + \draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$} node[below right, rotate=\thetau]{$-$}; \node[block={0.8cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{F}$}; \draw[->] ($(av) + (0.5, -0.1)$) -| (Kv.north) node[above right, rotate=\thetau]{$f_{v}$}; - \draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$}; + \draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$} node[above right, rotate=\thetau]{$-$}; \end{scope} % Inertial Frame