tdehaeze/dehaeze20_activ_dampin_rotat_platf_integ_force_feedb
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Rework all the analysis

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- better variable names
- better figures
This commit is contained in:
Thomas Dehaeze 2020-06-11 14:17:56 +02:00
parent b652aebe59
commit 0e5ea4de15
14 changed files with 1976 additions and 848 deletions
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tikz/index.org
View File

@ -32,10 +32,11 @@ Configuration file is accessible [[file:config.org][here]].
\def\thetau{25}
% Rotational Stage
\draw[fill=black!40!white] (0, 0) circle (4);
\draw[fill=black!60!white] (0, 0) circle (4.3);
\draw[fill=black!40!white] (0, 0) circle (3.8);
% Label
\node[anchor=north west, rotate=\thetau] at (-2.8, 2.8) {\small Rotating Stage};
\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
% Rotating Scope
\begin{scope}[rotate=\thetau]
@ -96,6 +97,79 @@ Configuration file is accessible [[file:config.org][here]].
#+RESULTS:
[[file:figs/rotating_xy_platform.png]]
#+begin_src latex :file rotating_xy_platform_bis.pdf
\begin{tikzpicture}
% Angle
\def\thetau{25}
% Rotational Stage
\draw[fill=black!40!white] (0, 0) circle (4.3);
\draw[fill=black!20!white] (0, 0) circle (3.8);
% Label
\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
% Rotating Scope
\begin{scope}[rotate=\thetau]
% Mass
\draw[fill=white] (-1, -1) rectangle (1, 1);
% Label
\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
% Attached Points
\node[] at (-1, 0){$\bullet$};
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
\node[] at (0, -1){$\bullet$};
\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
\node[] at (-3.8, 0){$\bullet$};
\draw[] (-3.8, 0) -- ++(0.2, 0);
\draw[] (-3.6, -0.5) -- ++(0, 1);
\node[] at (0, -3.8){$\bullet$};
\draw[] (0, -3.8) -- ++(0, 0.2);
\draw[] (-0.5, -3.6) -- ++(1, 0);
% Force Sensors
\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) node[above=0.1, rotate=\thetau]{$f_{u}$} -- ($(au) + (0, -0.5)$);
\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) node[left=0.1, rotate=\thetau]{$f_{v}$} -- ($(av) + ( 0.5, 0)$);
% Spring and Actuator for U
\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-3.6,0);
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k_u$} (ku-|-3.6,0);
\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-3.6);
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k_v$} (kv|-0,-3.6);
% Displacement measurement
\draw[<->, dashed] (-3.6, -0.8) --node[midway, below, rotate=\thetau]{$d_u$} (-1 , -0.8);
\draw[<->, dashed] ( 0.8, -3.6) --node[midway, right, rotate=\thetau]{$d_v$} ( 0.8, -1);
\end{scope}
% Inertial Frame
\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
\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) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
\draw[dashed] (0, 0) -- ++(2, 0);
\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
\node[] at (0,0) {$\bullet$};
\node[left] at (0,0) {$(x, y)$};
\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
\end{tikzpicture}
#+end_src
#+RESULTS:
[[file:figs/rotating_xy_platform_bis.png]]
* X-Y Rotating Positioning Platform with Springs in parallel
#+begin_src latex :file rotating_xy_platform_springs.pdf
\begin{tikzpicture}
@ -134,17 +208,13 @@ Configuration file is accessible [[file:config.org][here]].
\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$);
% Spring and Actuator for U
\draw[actuator={0.6}{0.2}] (actu) -- (actu-|-2.6,0);
\draw[spring=0.2] (ku) -- (ku-|-2.6,0);
\draw[spring=0.2] (-1, 0.8) -- (-1, 0.8-|-2.6,0);
\draw[actuator={0.6}{0.2}] (actu) -- node[below=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
\draw[spring=0.2] (ku) -- node[below=0.1, rotate=\thetau]{$k_u$} (ku-|-2.6,0);
\draw[spring=0.2] (-1, 0.8) -- node[above=0.1, rotate=\thetau]{$k_{pu}$} (-1, 0.8-|-2.6,0);
\draw[actuator={0.6}{0.2}] (actv) -- (actv|-0,-2.6);
\draw[spring=0.2] (kv) -- (kv|-0,-2.6);
\draw[spring=0.2] (-0.8, -1) -- (-0.8, -1|-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);
\draw[actuator={0.6}{0.2}] (actv) -- node[right=0.1, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
\draw[spring=0.2] (kv) -- node[right=0.1, rotate=\thetau]{$k_v$} (kv|-0,-2.6);
\draw[spring=0.2] (-0.8, -1) -- node[left=0.1, rotate=\thetau]{$k_{pv}$} (-0.8, -1|-0,-2.6);
\end{scope}
% Inertial Frame
@ -164,6 +234,9 @@ Configuration file is accessible [[file:config.org][here]].
\end{tikzpicture}
#+end_src
#+RESULTS:
[[file:figs/rotating_xy_platform_springs.png]]
#+begin_src latex :file rotating_xy_platform_springs.pdf
\begin{tikzpicture}
% Angle