Reworked all figures
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/*]]>*/-->
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<meta name="author" content="Thomas Dehaeze" />
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<body>
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<div id="org-div-home-and-up">
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@ -232,14 +22,432 @@
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Tikz Figures</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#orgfc691a5">1. X-Y Rotating Positioning Platform</a></li>
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<li><a href="#org221a454">2. X-Y Rotating Positioning Platform with Force Sensors</a></li>
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<li><a href="#org7cc7ccb">3. Decentralized Integral Force Feedback</a></li>
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<li><a href="#orgbd891cf">4. Decentralized Direct Velocity Feedback</a></li>
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<li><a href="#orgedc1f23">5. Springs in parallel</a></li>
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</ul>
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</div>
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</div>
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<p>
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Configuration file is accessible <a href="config.html">here</a>.
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</p>
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<div id="outline-container-orgfc691a5" class="outline-2">
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<h2 id="orgfc691a5"><span class="section-number-2">1</span> X-Y Rotating Positioning Platform</h2>
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<div class="outline-text-2" id="text-1">
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<div class="org-src-container">
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<pre class="src src-latex">\begin{tikzpicture}
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% Angle
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\def\thetau{25}
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% Rotational Stage
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\draw[fill=black!60!white] (0, 0) circle (4.3);
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\draw[fill=black!40!white] (0, 0) circle (3.8);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
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% Rotating Scope
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\begin{scope}[rotate=\thetau]
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% Rotating Frame
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\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
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% Mass
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\draw[fill=white] (-1, -1) rectangle (1, 1);
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% Label
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\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
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% Attached Points
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\node[] at (-1, 0){$\bullet$};
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\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu);
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\draw[] ($(cu) + (0, -0.8)$) coordinate(actu) -- ($(cu) + (0, 0.8)$) coordinate(ku);
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\node[] at (0, -1){$\bullet$};
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\draw[] (0, -1) -- ++(0, -0.2) coordinate(cv);
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\draw[] ($(cv) + (-0.8, 0)$)coordinate(kv) -- ($(cv) + (0.8, 0)$) coordinate(actv);
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
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\draw[damper={8}{8}] (cu) -- node[above left=0.2 and -0.1, rotate=\thetau]{$c$} (cu-|-2.6,0);
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\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
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\draw[damper={8}{8}] (cv) -- node[left=0.1, rotate=\thetau]{$c$} (cv|-0,-2.6);
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% % Displacement measurement
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% \draw[<->, dashed] (-2.6, -0.8) --node[midway, below, rotate=\thetau]{$d_u$} (-1 , -0.8);
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% \draw[<->, dashed] ( 0.8, -2.6) --node[midway, right, rotate=\thetau]{$d_v$} ( 0.8, -1);
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\end{scope}
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% Inertial Frame
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\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
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\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
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\draw[fill, color=black] (-4, -4) circle (0.06);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
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\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
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\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
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\draw[dashed] (0, 0) -- ++(2, 0);
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\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
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\node[] at (0,0) {$\bullet$};
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\node[left] at (0,0) {$(x, y)$};
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\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
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\end{tikzpicture}
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</pre>
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</div>
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<div class="figure">
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<p><img src="figs/system.png" alt="system.png" />
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</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org221a454" class="outline-2">
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<h2 id="org221a454"><span class="section-number-2">2</span> X-Y Rotating Positioning Platform with Force Sensors</h2>
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<div class="outline-text-2" id="text-2">
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<div class="org-src-container">
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<pre class="src src-latex">\begin{tikzpicture}
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% Angle
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\def\thetau{25}
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% Rotational Stage
|
||||
\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 (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% 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);
|
||||
|
||||
% 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-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
|
||||
\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);
|
||||
\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}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/system_force_sensors.png" alt="system_force_sensors.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7cc7ccb" class="outline-2">
|
||||
<h2 id="org7cc7ccb"><span class="section-number-2">3</span> Decentralized Integral Force Feedback</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\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 (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% 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);
|
||||
|
||||
% 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]{$f_{u}$} -- ($(au) + (0, -0.5)$);
|
||||
\node[above, rotate=\thetau] at ($(av) + (-0.1, 0.5)$) {$f_{u}$};
|
||||
|
||||
\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) -- ($(av) + ( 0.5, 0)$);
|
||||
\node[left, rotate=\thetau] at ($(av) + (-0.5, -0.1)$) {$f_{v}$};
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
|
||||
% \draw[actuator={0.6}{0.2}] (actv) -- node[right, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
|
||||
\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{F}$};
|
||||
\draw[->] ($(au) + (-0.1, -0.5)$) |- (Ku.east);
|
||||
\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$};
|
||||
|
||||
\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{F}$};
|
||||
\draw[->] ($(av) + (0.5, -0.1)$) -| (Kv.north);
|
||||
\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$};
|
||||
\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}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/system_iff.png" alt="system_iff.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbd891cf" class="outline-2">
|
||||
<h2 id="orgbd891cf"><span class="section-number-2">4</span> Decentralized Direct Velocity Feedback</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\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 (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% 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);
|
||||
|
||||
% Attached Points
|
||||
\node[] at (-1, 0){$\bullet$};
|
||||
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu);
|
||||
\draw[] ($(cu) + (0, -0.5)$) coordinate(actu) -- ($(cu) + (0, 0.5)$) coordinate(ku);
|
||||
\node[] at (0, -1){$\bullet$};
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(cv);
|
||||
\draw[] ($(cv) + (-0.5, 0)$)coordinate(kv) -- ($(cv) + (0.5, 0)$) coordinate(actv);
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
|
||||
% Displacement measurement
|
||||
\draw[<->, dashed] (-2.6, -0.8) -- (-1 , -0.8) coordinate(dutop);
|
||||
\draw[<->, dashed] ( 0.8, -2.6) -- ( 0.8, -1) coordinate(dvtop);
|
||||
|
||||
% Controllers
|
||||
\node[block={0.6cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{V}$};
|
||||
\draw[->] ($(dutop) + (-0.1, 0)$) node[below left, rotate=\thetau]{$v_u$} |- (Ku.east);
|
||||
\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$);
|
||||
|
||||
\node[block={0.6cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{V}$};
|
||||
\draw[->] ($(dvtop) + (0, -0.1)$) node[below right, rotate=\thetau]{$v_v$} -| (Kv.north);
|
||||
\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$);
|
||||
|
||||
\node[above=0.1, rotate=\thetau] at (actumid) {$F_u$};
|
||||
\node[left=0.1, rotate=\thetau] at (actvmid) {$F_v$};
|
||||
\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}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/system_dvf.png" alt="system_dvf.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgedc1f23" class="outline-2">
|
||||
<h2 id="orgedc1f23"><span class="section-number-2">5</span> Springs in parallel</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\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 (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% Mass
|
||||
\draw[fill=white] (-1, -1) rectangle (1, 1);
|
||||
% Label
|
||||
\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
|
||||
|
||||
% Attached Points
|
||||
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
|
||||
|
||||
% 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) -- ($(au) + (0, -0.5)$);
|
||||
\node[below=0.1, rotate=\thetau] at ($(au) + (-0.1, -0.5)$) {$f_{u}$}
|
||||
|
||||
\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) -- ($(av) + ( 0.5, 0)$) ;
|
||||
\node[right=0.1, rotate=\thetau] at ($(av) + (0.5, -0.1)$) {$f_{v}$}
|
||||
|
||||
% Spring and Actuator for U
|
||||
\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]{$k$} (ku-|-2.6,0);
|
||||
\draw[spring=0.2] (-1, 0.8) -- node[above=0.1, rotate=\thetau]{$k_{p}$} (-1, 0.8-|-2.6,0);
|
||||
|
||||
\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]{$k$} (kv|-0,-2.6);
|
||||
\draw[spring=0.2] (-0.8, -1) -- node[left=0.1, rotate=\thetau]{$k_{p}$} (-0.8, -1|-0,-2.6);
|
||||
\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}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/system_parallel_springs.png" alt="system_parallel_springs.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-16 lun. 10:52</p>
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2020-06-22 lun. 14:45</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
243
tikz/index.org
243
tikz/index.org
@ -26,7 +26,74 @@
|
||||
Configuration file is accessible [[file:config.org][here]].
|
||||
|
||||
* X-Y Rotating Positioning Platform
|
||||
#+begin_src latex :file rotating_xy_platform.pdf
|
||||
#+begin_src latex :file system.pdf
|
||||
\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\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 (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% 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(cu);
|
||||
\draw[] ($(cu) + (0, -0.8)$) coordinate(actu) -- ($(cu) + (0, 0.8)$) coordinate(ku);
|
||||
\node[] at (0, -1){$\bullet$};
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(cv);
|
||||
\draw[] ($(cv) + (-0.8, 0)$)coordinate(kv) -- ($(cv) + (0.8, 0)$) coordinate(actv);
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
\draw[damper={8}{8}] (cu) -- node[above left=0.2 and -0.1, rotate=\thetau]{$c$} (cu-|-2.6,0);
|
||||
|
||||
\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
|
||||
\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/system.png]]
|
||||
|
||||
* X-Y Rotating Positioning Platform with Force Sensors
|
||||
#+begin_src latex :file system_force_sensors.pdf
|
||||
\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
@ -71,10 +138,6 @@ 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);
|
||||
|
||||
% 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
|
||||
@ -95,10 +158,172 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
[[file:figs/rotating_xy_platform.png]]
|
||||
[[file:figs/system_force_sensors.png]]
|
||||
|
||||
* X-Y Rotating Positioning Platform with Springs in parallel
|
||||
#+begin_src latex :file rotating_xy_platform_springs.pdf
|
||||
* Decentralized Integral Force Feedback
|
||||
#+begin_src latex :file system_iff.pdf
|
||||
\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\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 (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% 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);
|
||||
|
||||
% 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]{$f_{u}$} -- ($(au) + (0, -0.5)$);
|
||||
\node[above, rotate=\thetau] at ($(av) + (-0.1, 0.5)$) {$f_{u}$};
|
||||
|
||||
\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) -- ($(av) + ( 0.5, 0)$);
|
||||
\node[left, rotate=\thetau] at ($(av) + (-0.5, -0.1)$) {$f_{v}$};
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
|
||||
% \draw[actuator={0.6}{0.2}] (actv) -- node[right, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
|
||||
\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{F}$};
|
||||
\draw[->] ($(au) + (-0.1, -0.5)$) |- (Ku.east);
|
||||
\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$};
|
||||
|
||||
\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{F}$};
|
||||
\draw[->] ($(av) + (0.5, -0.1)$) -| (Kv.north);
|
||||
\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$};
|
||||
\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/system_iff.png]]
|
||||
|
||||
* Decentralized Direct Velocity Feedback
|
||||
#+begin_src latex :file system_dvf.pdf
|
||||
\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\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 (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% 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);
|
||||
|
||||
% Attached Points
|
||||
\node[] at (-1, 0){$\bullet$};
|
||||
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu);
|
||||
\draw[] ($(cu) + (0, -0.5)$) coordinate(actu) -- ($(cu) + (0, 0.5)$) coordinate(ku);
|
||||
\node[] at (0, -1){$\bullet$};
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(cv);
|
||||
\draw[] ($(cv) + (-0.5, 0)$)coordinate(kv) -- ($(cv) + (0.5, 0)$) coordinate(actv);
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
|
||||
% Displacement measurement
|
||||
\draw[<->, dashed] (-2.6, -0.8) -- (-1 , -0.8) coordinate(dutop);
|
||||
\draw[<->, dashed] ( 0.8, -2.6) -- ( 0.8, -1) coordinate(dvtop);
|
||||
|
||||
% Controllers
|
||||
\node[block={0.6cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{V}$};
|
||||
\draw[->] ($(dutop) + (-0.1, 0)$) node[below left, rotate=\thetau]{$v_u$} |- (Ku.east);
|
||||
\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$);
|
||||
|
||||
\node[block={0.6cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{V}$};
|
||||
\draw[->] ($(dvtop) + (0, -0.1)$) node[below right, rotate=\thetau]{$v_v$} -| (Kv.north);
|
||||
\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$);
|
||||
|
||||
\node[above=0.1, rotate=\thetau] at (actumid) {$F_u$};
|
||||
\node[left=0.1, rotate=\thetau] at (actvmid) {$F_v$};
|
||||
\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/system_dvf.png]]
|
||||
|
||||
* Springs in parallel
|
||||
#+begin_src latex :file system_parallel_springs.pdf
|
||||
\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
@ -165,4 +390,4 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
[[file:figs/rotating_xy_platform_springs.png]]
|
||||
[[file:figs/system_parallel_springs.png]]
|
||||
|
||||
Loading…
Reference in New Issue
Block a user