Add new line after minipage for figures

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Thomas Dehaeze 2020-07-06 09:13:36 +02:00
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@ -72,8 +72,8 @@ Both proposed modifications are compared in terms of added damping, closed-loop
# Such as the Nano-Active-Stabilization-System currently in development at the ESRF cite:dehaeze18_sampl_stabil_for_tomog_exper.
** Current active damping techniques :ignore:
# IFF, DVF
** Description of IFF and associated properties
# IFF => guaranteed stability
** Describe a gap in the research :ignore:
# No literature on rotating systems => gyroscopic effects
@ -81,11 +81,11 @@ Both proposed modifications are compared in terms of added damping, closed-loop
** Describe the paper itself / the problem which is addressed :ignore:
Due to gyroscopic effects, the guaranteed robustness properties of Integral Force Feedback do not hold.
Either the control architecture can be slightly modified or mechanical changes in the system can be performed.
** Introduce Each part of the paper :ignore:
This paper has been published
The Matlab code that was use to obtain the results are available in cite:dehaeze20_activ_dampin_rotat_posit_platf.
* Dynamics of Rotating Positioning Platforms
@ -234,7 +234,7 @@ The control diagram is schematically shown in Figure ref:fig:control_diagram_iff
#+attr_latex: :scale 1 :float nil
[[file:figs/system_iff.pdf]]
#+end_minipage
\hfill
#+latex: \hfill
#+attr_latex: :options [t]{0.40\linewidth}
#+begin_minipage
#+name: fig:control_diagram_iff
@ -242,6 +242,7 @@ The control diagram is schematically shown in Figure ref:fig:control_diagram_iff
#+attr_latex: :scale 1 :float nil
[[file:figs/control_diagram_iff.pdf]]
#+end_minipage
#+latex: \newline
** Plant Dynamics :ignore:
The forces measured by the two force sensors are equal to
@ -274,6 +275,7 @@ The zeros of the diagonal terms of $\bm{G}_f$ are equal to (neglecting the dampi
\end{align}
\end{subequations}
# TODO - Change that phrase: don't say it is easy
It can be easily shown that the frequency of the two complex conjugate zeros $z_c$ eqref:eq:iff_zero_cc lies between the frequency of the two pairs of complex conjugate poles $p_{-}$ and $p_{+}$ eqref:eq:pole_values.
For non-null rotational speeds, two real zeros $z_r$ eqref:eq:iff_zero_real appear in the diagonal terms inducing a non-minimum phase behavior.
@ -365,6 +367,7 @@ It is interesting to note that this gain $g_{\text{max}}$ also corresponds as to
#+attr_latex: :scale 1 :float nil
[[file:figs/root_locus_modified_iff.pdf]]
#+end_minipage
#+latex: \newline
** Optimal Control Parameters :ignore:
Two parameters can be tuned for the controller eqref:eq:IFF_LHF: the gain $g$ and the pole's location $\omega_i$.
@ -409,7 +412,7 @@ An example of such system is shown in Figure ref:fig:cedrat_xy25xs.
#+attr_latex: :scale 1 :float nil
[[file:figs/system_parallel_springs.pdf]]
#+end_minipage
\hfill
#+latex: \hfill
#+attr_latex: :options [t]{0.40\linewidth}
#+begin_minipage
#+name: fig:cedrat_xy25xs
@ -417,6 +420,7 @@ An example of such system is shown in Figure ref:fig:cedrat_xy25xs.
#+attr_latex: :width \linewidth :float nil
[[file:figs/cedrat_xy25xs.png]]
#+end_minipage
#+latex: \newline
** Effect of the Parallel Stiffness on the Plant Dynamics :ignore:
The forces measured by the sensors are equal to
@ -483,6 +487,7 @@ It is shown that if the added stiffness is higher than the maximum negative stif
#+attr_latex: :scale 1 :float nil
[[file:figs/root_locus_iff_kp.pdf]]
#+end_minipage
#+latex: \newline
** Optimal Parallel Stiffness :ignore:
Even though the parallel stiffness $k_p$ has no impact on the open-loop poles (as the overall stiffness $k$ stays constant), it has a large impact on the transmission zeros.
@ -554,7 +559,9 @@ They however do not degrades the transmissibility as high frequency as its the c
* Conclusion
<<sec:conclusion>>
# MIMO approach to study the coupling effects?
# Shows the problem for IFF when rotating
# Proposed two method
* Acknowledgment
:PROPERTIES: