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b/matlab/figs/plant_iff_kp_comp_simscape_analytical.png differ diff --git a/matlab/figs/plant_simscape_analytical.pdf b/matlab/figs/plant_simscape_analytical.pdf index 651c29b..e1e17ea 100644 --- a/matlab/figs/plant_simscape_analytical.pdf +++ b/matlab/figs/plant_simscape_analytical.pdf @@ -3,7 +3,7 @@ 1 0 obj << /Producer (Apache FOP Version 2.4.0-SNAPSHOT: PDFDocumentGraphics2D) -/CreationDate (D:20200612094026+02'00') +/CreationDate (D:20200618153950+02'00') >> endobj 2 0 obj @@ -2102,7 +2102,7 @@ trailer << /Root 231 0 R /Info 1 0 R - /ID [<3A8E2515AB7E576904607AA0BBF0D939> <3A8E2515AB7E576904607AA0BBF0D939>] + /ID [<245691393DCE6BD69D5A2EE8112C1CEF> <245691393DCE6BD69D5A2EE8112C1CEF>] /Size 232 >> startxref diff --git a/matlab/figs/root_locus_dvf.pdf b/matlab/figs/root_locus_dvf.pdf index 236747e..335132a 100644 Binary files a/matlab/figs/root_locus_dvf.pdf and b/matlab/figs/root_locus_dvf.pdf differ diff --git a/matlab/figs/root_locus_dvf.png b/matlab/figs/root_locus_dvf.png 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b/matlab/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Matlab Computation @@ -34,100 +34,122 @@

Table of Contents

    -
  • Section 1
    • -
  • Section 2
    • -
  • Section 3
    • -
  • Section 4
    • -
  • Section 5
    • -
  • Section 6
    • -
  • Section 7
    • +
  • Section 1
    • +
  • Section 2
    • +
  • Section 3
    • +
  • Section 4
    • +
  • Section 5
    • +
  • Section 6
    • +
  • Section 7
-
-

1 System Description and Analysis

+
+

1 System Description and Analysis

- +

-
-

1.1 System description

+
+

1.1 System description

-The system consists of one 2 degree of freedom translation stage on top of a spindle (figure 1). +The system consists of one 2 degree of freedom translation stage on top of a spindle (figure 1).

-
+

rotating_xy_platform.png

-

Figure 1: Figure caption

+

Figure 1: Schematic of the studied system

@@ -141,33 +163,48 @@ The measurement is either the \(x-y\) displacement of the object located on top

-
-

1.2 Equations

+
+

1.2 Equations

-Based on the Figure 1, the equations of motions are: +Based on the Figure 1, the equations of motions are:

\begin{equation} \begin{bmatrix} d_u \\ d_v \end{bmatrix} = -\frac{\frac{1}{k}}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} +\bm{G}_d +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{equation} +\begin{bmatrix} d_u \\ d_v \end{bmatrix} = +\frac{1}{k} \frac{1}{G_{dp}} \begin{bmatrix} - \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} & 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \\ - -2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} & \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ + G_{dz} & G_{dc} \\ + -G_{dc} & G_{dz} \end{bmatrix} \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} +

+With: +

+\begin{align} + G_{dp} &= \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{dz} &= \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ + G_{dc} &= 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} +\end{align}

Explain Coriolis and Centrifugal Forces (negative Stiffness) +=> First write the equations in terms of \(k\), \(m\) and \(c\) and explain the terms.

-
-

1.3 Numerical Values

+
+

1.3 Numerical Values

Let’s define initial values for the model. @@ -187,19 +224,19 @@ w0 = sqrt(k/m); % [rad/s]

-
-

1.4 Campbell Diagram

+
+

1.4 Campbell Diagram

The Campbell Diagram displays the evolution of the real and imaginary parts of the system as a function of the rotating speed.

-It is shown in Figure 2, and one can see that the system becomes unstable for \(\Omega > \omega_0\) (the real part of one of the poles becomes positive). +It is shown in Figure 2, and one can see that the system becomes unstable for \(\Omega > \omega_0\) (the real part of one of the poles becomes positive).

-
+

campbell_diagram.png

Figure 2: Campbell Diagram

@@ -207,8 +244,8 @@ It is shown in Figure 2, and one can see that the syst
-
-

1.5 Simscape Model

+
+

1.5 Simscape Model

Define the rotating speed for the Simscape Model. @@ -244,8 +281,8 @@ G.OutputName = {'du', 'dv'};

-
-

1.6 Comparison of the Analytical Model and the Simscape Model

+
+

1.6 Comparison of the Analytical Model and the Simscape Model

The same transfer function from \([F_u, F_v]\) to \([d_u, d_v]\) is written down from the analytical model. @@ -258,11 +295,11 @@ The same transfer function from \([F_u, F_v]\) to \([d_u, d_v]\) is written down

-Both transfer functions are compared in Figure 3 and are found to perfectly match. +Both transfer functions are compared in Figure 3 and are found to perfectly match.

-
+

plant_simscape_analytical.png

Figure 3: Bode plot of the transfer function from \([F_u, F_v]\) to \([d_u, d_v]\) as identified from the Simscape model and from an analytical model

@@ -270,8 +307,8 @@ Both transfer functions are compared in Figure 3 and a
-
-

1.7 Effect of the rotation speed

+
+

1.7 Effect of the rotation speed

The transfer functions from \([F_u, F_v]\) to \([d_u, d_v]\) are identified for the following rotating speeds. @@ -295,11 +332,11 @@ end

-They are compared in Figure 4. +They are compared in Figure 4.

-
+

plant_compare_rotating_speed.png

Figure 4: Comparison of the transfer functions from \([F_u, F_v]\) to \([d_u, d_v]\) for several rotating speed

@@ -308,11 +345,11 @@ They are compared in Figure 4.
-
-

2 Problem with pure Integral Force Feedback

+
+

2 Problem with pure Integral Force Feedback

- +

  • Diagram with the controller
    • @@ -320,8 +357,8 @@ They are compared in Figure 4.
-
-

2.1 Plant Parameters

+
+

2.1 Plant Parameters

Let’s define initial values for the model. @@ -341,8 +378,8 @@ w0 = sqrt(k/m); % [rad/s]

-
-

2.2 Equations

+
+

2.2 Equations

The sensed forces are equal to: @@ -363,20 +400,32 @@ Which then gives:

\begin{equation} \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = -\frac{1}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} +\bm{G}_{f} +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{equation} +\begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = +\frac{1}{G_{fp}} \begin{bmatrix} - (\frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2}) (\frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2}) + (2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0})^2 & - (2 \xi \frac{s}{\omega_0} + 1) 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \\ - (2 \xi \frac{s}{\omega_0} + 1) 2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} & (\frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2}) (\frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2}) + (2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0})^2 \\ + G_{fz} & -G_{fc} \\ + G_{fc} & G_{fz} \end{bmatrix} \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} +\begin{align} + G_{fp} &= \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{fz} &= \left( \frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2} \right) \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right) + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{fc} &= \left( 2 \xi \frac{s}{\omega_0} + 1 \right) \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right) +\end{align} +
-
-

2.3 Simscape Model

+
+

2.3 Simscape Model

The rotation speed is set to \(\Omega = 0.1 \omega_0\). @@ -411,8 +460,8 @@ Giff.OutputName = {'fu', 'fv'};

-
-

2.4 Comparison of the Analytical Model and the Simscape Model

+
+

2.4 Comparison of the Analytical Model and the Simscape Model

The same transfer function from \([F_u, F_v]\) to \([f_u, f_v]\) is written down from the analytical model. @@ -425,11 +474,11 @@ The same transfer function from \([F_u, F_v]\) to \([f_u, f_v]\) is written down

-The two are compared in Figure 5 and found to perfectly match. +The two are compared in Figure 5 and found to perfectly match.

-
+

plant_iff_comp_simscape_analytical.png

Figure 5: Comparison of the transfer functions from \([F_u, F_v]\) to \([f_u, f_v]\) between the Simscape model and the analytical one

@@ -437,8 +486,8 @@ The two are compared in Figure 5 and found to perfectl
-
-

2.5 Effect of the rotation speed

+
+

2.5 Effect of the rotation speed

The transfer functions from \([F_u, F_v]\) to \([f_u, f_v]\) are identified for the following rotating speeds. @@ -462,10 +511,10 @@ end

-The obtained transfer functions are shown in Figure 6. +The obtained transfer functions are shown in Figure 6.

-
+

plant_iff_compare_rotating_speed.png

Figure 6: Comparison of the transfer functions from \([F_u, F_v]\) to \([f_u, f_v]\) for several rotating speed

@@ -473,8 +522,8 @@ The obtained transfer functions are shown in Figure 6.
-
-

2.6 Decentralized Integral Force Feedback

+
+

2.6 Decentralized Integral Force Feedback

Let’s take \(\Omega = \frac{\omega_0}{10}\). @@ -488,7 +537,6 @@ Let’s take \(\Omega = \frac{\omega_0}{10}\). 

Giff = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ...
        [(s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)) + (2*W*s/(w0^2))^2, - (2*xi*s/w0 + 1)*2*W*s/(w0^2) ; ...
         (2*xi*s/w0 + 1)*2*W*s/(w0^2), (s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))+ (2*W*s/(w0^2))^2];
-
@@ -510,33 +558,191 @@ Kiff = g/s*tf(eye(2));

-The Root Locus (evolution of the poles of the closed loop system in the complex plane as a function of \(g\)) is shown in Figure 7. +The Root Locus (evolution of the poles of the closed loop system in the complex plane as a function of \(g\)) is shown in Figure 7. It is shown that for non-null rotating speed, one pole is bound to the right-half plane, and thus the closed loop system is unstable.

-
+

root_locus_pure_iff.png

Figure 7: Root Locus for the Decentralized Integral Force Feedback controller. Several rotating speed are shown.

+ +
+

2.7 Sort poles

+
+
+
W = 0.1;
+
+Giff = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ...
+       [(s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)) + (2*W*s/(w0^2))^2, - (2*xi*s/w0 + 1)*2*W*s/(w0^2) ; ...
+        (2*xi*s/w0 + 1)*2*W*s/(w0^2), (s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))+ (2*W*s/(w0^2))^2];
+g = 1;
+
+gains = logspace(-2, 4, 100);
+
+poles = zeros(length(pole(minreal(feedback(Giff, g/s*eye(2))))), length(gains));
+poles(:, 1) = pole(minreal(feedback(Giff, gains(1)/s*eye(2))));
+poles(:, 2) = pole(minreal(feedback(Giff, gains(2)/s*eye(2))));
+% poles(:, 2) = poles(:, 1);
+
+for g_i = 3:length(gains)
+    poles_est = poles(:, g_i-1) + (poles(:, g_i-1) - poles(:, g_i-2))*(gains(g_i) - gains(g_i-1))/(gains(g_i-1) - gains(g_i - 2));
+    poles_est = poles(:, g_i-1);
+
+    poles_gi = pole(minreal(feedback(Giff, gains(g_i)/s*eye(2))));
+
+    % Array of distances between all the poles
+    poles_dist = (poles_est-poles_gi.').*conj(poles_est-poles_gi.');
+    [~, c] = sort(min(poles_dist));
+    poles_dist = poles_dist(:, c);
+
+    for p_i = 1:size(poles_dist, 1)
+       [~, a_i] = min(poles_dist(:, p_i));
+
+       poles(c(p_i), g_i) = poles_gi(a_i);
+       poles_dist(a_i, :) = [];
+       poles_gi(a_i, :) = [];
+    end
+end
+
-
-

3 Modified IFF (pseudo integrator)

+

+Working +

+
+
W = 0.1;
+
+Giff = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ...
+       [(s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)) + (2*W*s/(w0^2))^2, - (2*xi*s/w0 + 1)*2*W*s/(w0^2) ; ...
+        (2*xi*s/w0 + 1)*2*W*s/(w0^2), (s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))+ (2*W*s/(w0^2))^2];
+
+gains = logspace(-2, 4, 500);
+
+poles = zeros(length(pole(feedback(Giff, 1/s*eye(2)))), length(gains));
+poles(:, 1) = pole(feedback(Giff, gains(1)/s*eye(2)));
+poles(:, 2) = pole(feedback(Giff, gains(2)/s*eye(2)));
+% poles(:, 2) = poles(:, 1);
+
+for g_i = 3:length(gains)
+    % poles_est = poles(:, g_i-1) + (poles(:, g_i-1) - poles(:, g_i-2))*(gains(g_i) - gains(g_i-1))/(gains(g_i-1) - gains(g_i - 2));
+    poles_est = poles(:, g_i-1);
+    poles_gi = pole(feedback(Giff, gains(g_i)/s*eye(2)));
+
+    % Array of distances between all the poles
+    poles_dist = sqrt((poles_est-poles_gi.').*conj(poles_est-poles_gi.'));
+
+    % Columns of distances are sorted from lowest to highest
+    [~, c] = sort(min(poles_dist));
+    poles_dist = poles_dist(:, c);
+
+    % for each column of poles_dist corresponding to the i'th pole
+    % with closest previous poles
+    for p_i = 1:size(poles_dist, 2)
+       % Get the indice a_i of the previous pole that is the closest
+       % to pole c(p_i)
+       [~, a_i] = min(poles_dist(:, p_i));
+
+       poles(a_i, g_i) = poles_gi(c(p_i));
+
+       % poles_dist(a_i, :) = [];
+       % poles_gi(a_i, :) = [];
+    end
+end
+
+
+ +
+
W = 0.1;
+
+Giff = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ...
+       [(s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)) + (2*W*s/(w0^2))^2, - (2*xi*s/w0 + 1)*2*W*s/(w0^2) ; ...
+        (2*xi*s/w0 + 1)*2*W*s/(w0^2), (s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))+ (2*W*s/(w0^2))^2];
+
+gains = logspace(-2, 4, 500);
+
+poles = zeros(length(pole(feedback(Giff, 1/s*eye(2)))), length(gains));
+poles(:, 1) = pole(feedback(Giff, gains(1)/s*eye(2)));
+poles(:, 2) = pole(feedback(Giff, gains(2)/s*eye(2)));
+
+for g_i = 3:length(gains)
+    % Estimated value of the poles
+    poles_est = poles(:, g_i-1) + (poles(:, g_i-1) - poles(:, g_i-2))*(gains(g_i) - gains(g_i-1))/(gains(g_i-1) - gains(g_i - 2));
+
+    % New values for the poles
+    poles_gi = pole(feedback(Giff, gains(g_i)/s*eye(2)));
+
+    % Array of distances between all the poles
+    poles_dist = sqrt((poles_est-poles_gi.').*conj(poles_est-poles_gi.'));
+
+    % Get indices corresponding to distances from lowest to highest
+    [~, c] = sort(min(poles_dist));
+
+    as = 1:length(poles_gi);
+
+    % for each column of poles_dist corresponding to the i'th pole
+    % with closest previous poles
+    for p_i = c
+       % Get the indice a_i of the previous pole that is the closest
+       % to pole c(p_i)
+       [~, a_i] = min(poles_dist(:, p_i));
+
+       poles(as(a_i), g_i) = poles_gi(p_i);
+
+       % Remove old poles that are already matched
+       % poles_gi(as(a_i), :) = [];
+       poles_dist(a_i, :) = [];
+       as(a_i) = [];
+    end
+end
+
+
+ +

+How to remove poles that are not moving? +

+
+
poles_rl = poles(max(abs(poles(:, 2:end) - poles(:, 1:end-1))') > 1e-8, :);
+poles_rl = poles_rl(1:end/2, :);
+
+
+ +
    +
  • works best without minreal
    • +
  • [ ] create a function
    • +
+ +
+
Giff = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ...
+       [(s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)) + (2*W*s/(w0^2))^2, - (2*xi*s/w0 + 1)*2*W*s/(w0^2) ; ...
+        (2*xi*s/w0 + 1)*2*W*s/(w0^2), (s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))+ (2*W*s/(w0^2))^2];
+Kiff = 1/s*eye(2);
+gains = logspace(-2, 4, 500);
+
+[poles] = rootLocusPolesSorted(Giff, Kiff, gains, 'd_max', 1e-4);
+
+
+
+
+
+ +
+

3 Modified IFF (pseudo integrator)

- +

  • Classical modification of the IFF
-
-

3.1 Plant Parameters

+
+

3.1 Plant Parameters

Let’s define initial values for the model. @@ -556,8 +762,8 @@ w0 = sqrt(k/m); % [rad/s]

-
-

3.2 Modified Integral Force Feedback Controller

+
+

3.2 Modified Integral Force Feedback Controller

Let’s modify the initial Integral Force Feedback Controller ; instead of using pure integrators, pseudo integrators (i.e. low pass filters) are used: @@ -592,10 +798,10 @@ And the following rotating speed.

-The obtained Loop Gain is shown in Figure 8. +The obtained Loop Gain is shown in Figure 8.

-
+

loop_gain_modified_iff.png

Figure 8: Loop Gain for the modified IFF controller

@@ -603,15 +809,15 @@ The obtained Loop Gain is shown in Figure 8.
-
-

3.3 Root Locus

+
+

3.3 Root Locus

-As shown in the Root Locus plot (Figure 9), for some value of the gain, the system remains stable. +As shown in the Root Locus plot (Figure 9), for some value of the gain, the system remains stable.

-
+

root_locus_modified_iff.png

Figure 9: Root Locus for the modified IFF controller

@@ -619,11 +825,11 @@ As shown in the Root Locus plot (Figure 9), for some v
-
-

3.4 What is the optimal \(\omega_i\) and \(g\)?

+
+

3.4 What is the optimal \(\omega_i\) and \(g\)?

-In order to visualize the effect of \(\omega_i\) on the attainable damping, the Root Locus is displayed in Figure 10 for the following \(\omega_i\): +In order to visualize the effect of \(\omega_i\) on the attainable damping, the Root Locus is displayed in Figure 10 for the following \(\omega_i\): 

wis = [0.01, 0.1, 0.5, 1]*w0; % [rad/s]
@@ -631,7 +837,7 @@ In order to visualize the effect of \(\omega_i\) on the attainable damping, the
-
+

root_locus_wi_modified_iff.png

Figure 10: Root Locus for the modified IFF controller (zoomed plot on the left)

@@ -650,18 +856,17 @@ For the controller The gain at which the system becomes unstable is

\begin{equation} -\label{org69ac90f} - g_\text{max} = \omega_i \left( \frac{{\omega_0}^2}{\Omega_2} - 1 \right) + g_\text{max} = \omega_i \left( \frac{{\omega_0}^2}{\Omega^2} - 1 \right) \label{eq:iff_gmax} \end{equation}

-While it seems that small \(\omega_i\) do allow more damping to be added to the system (Figure 10), the control gains may be limited to small values due to \eqref{eq:iff_gmax} thus reducing the attainable damping. +While it seems that small \(\omega_i\) do allow more damping to be added to the system (Figure 10), the control gains may be limited to small values due to \eqref{eq:iff_gmax} thus reducing the attainable damping.

There must be an optimum for \(\omega_i\). -To find the optimum, the gain that maximize the simultaneous damping of the mode is identified for a wide range of \(\omega_i\) (Figure 11). +To find the optimum, the gain that maximize the simultaneous damping of the mode is identified for a wide range of \(\omega_i\) (Figure 11). 

wis = logspace(-2, 1, 31)*w0; % [rad/s]
@@ -688,7 +893,7 @@ end
-
+

mod_iff_damping_wi.png

Figure 11: Simultaneous attainable damping of the closed loop poles as a function of \(\omega_i\)

@@ -698,17 +903,80 @@ end
-
-

4 IFF with a stiffness in parallel with the force sensor

+
+

4 IFF with a stiffness in parallel with the force sensor

- +

-
-

4.1 Plant Parameters

+
+

4.1 Equations

+
+\begin{equation} +\begin{bmatrix} f_u \\ f_v \end{bmatrix} = +\bm{G}_k +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{equation} +\begin{bmatrix} f_u \\ f_v \end{bmatrix} = +\frac{1}{G_{kp}} +\begin{bmatrix} + G_{kz} & -G_{kc} \\ + G_{kc} & G_{kz} +\end{bmatrix} +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} +

+With: +

+\begin{align} + G_{kp} &= \left( \frac{s^2}{{\omega_0^\prime}^2} + 2\xi^\prime \frac{s}{{\omega_0^\prime}^2} + 1 - \frac{\Omega}{\omega_0^\prime} \right)^2 + \left( 2 \frac{\Omega}{\omega_0^\prime}\frac{s}{\omega_0^\prime} \right)^2 \\ + G_{kz} &= \left( \frac{s^2}{{\omega_0^\prime}^2} + \frac{k_p}{k + k_p} - \frac{\Omega^2}{{\omega_0^\prime}^2} \right) \left( \frac{s^2}{{\omega_0^\prime}^2} + 2\xi^\prime \frac{s}{{\omega_0^\prime}^2} + 1 - \frac{\Omega}{\omega_0^\prime} \right) + \left( 2 \frac{\Omega}{\omega_0^\prime}\frac{s}{\omega_0^\prime} \right)^2 \\ + G_{kc} &= \left( 2 \xi^\prime \frac{s}{\omega_0^\prime} + \frac{k}{k + k_p} \right) \left( 2 \frac{\Omega}{\omega_0^\prime}\frac{s}{\omega_0^\prime} \right) +\end{align} +

+where: +

+
    +
  • \(\omega_0^\prime = \frac{k + k_p}{m}\)
    • +
  • \(\xi^\prime = \frac{c}{2 \sqrt{(k + k_p) m}}\)
    • +
+ +
+ +
+
Giff_th = 1/( (m*s^2 + c*s + k + kp - m*W^2)^2 + (2*m*s*W)^2 )*[...
+                   (m*s^2 + c*s + k + kp - m*W^2)^2 + (2*m*s*W)^2 - (c*s + k)*(m*s^2 + c*s + k + kp - m*W^2), -(c*s + k)*(2*m*s*W);
+                   (c*s + k)*(2*m*s*W), (m*s^2 + c*s + k + kp - m*W^2)^2 + (2*m*s*W)^2 - (c*s + k)*(m*s^2 + c*s + k + kp - m*W^2)
+                   ];
+
+
+ +
+
w0p = sqrt((k + kp)/m);
+xip = c/(2*sqrt((k+kp)*m));
+
+Giff_th = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 )*[...
+                   (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p));
+                   (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2
+                   ];
+
+Giff_th_b = 1/( (m*s^2 + c*s + k + kp - m*W^2)^2 + (2*m*s*W)^2 )*[...
+                   (m*s^2 + c*s + k + kp - m*W^2)^2 + (2*m*s*W)^2 - (c*s + k)*(m*s^2 + c*s + k + kp - m*W^2), -(c*s + k)*(2*m*s*W);
+                   (c*s + k)*(2*m*s*W), (m*s^2 + c*s + k + kp - m*W^2)^2 + (2*m*s*W)^2 - (c*s + k)*(m*s^2 + c*s + k + kp - m*W^2)
+                   ];
+
+
+
+
+ +
+

4.2 Plant Parameters

+

Let’s define initial values for the model.

@@ -727,11 +995,11 @@ w0 = sqrt(k/m); % [rad/s]
-
-

4.2 Schematic

-
+
+

4.3 Schematic

+
-
+

rotating_xy_platform_springs.png

Figure 12: Figure caption

@@ -739,9 +1007,9 @@ w0 = sqrt(k/m); % [rad/s]
-
-

4.3 Physical Explanation

-
+
+

4.4 Physical Explanation

+
  • Negative stiffness induced by gyroscopic effects
  • Zeros of the open-loop <=> Poles of the subsystem with the force sensors removes
    • @@ -766,22 +1034,8 @@ And thus, the stiffness in parallel should be such that:
-
-

4.4 Equations

-
-

-The equations should be the same as before by taking into account the additional stiffness. -It then may be better to write it in terms of \(k\), \(c\), \(m\) instead of \(\omega_0\) and \(\xi\). -

- -

-I just have to determine the measured force by the sensor -

-
-
- -
-

4.5 Effect of the parallel stiffness on the IFF plant

+
+

4.5 Effect of the parallel stiffness on the IFF plant

The rotation speed is set to \(\Omega = 0.1 \omega_0\). @@ -801,7 +1055,7 @@ And the IFF plant (transfer function from \([F_u, F_v]\) to \([f_u, f_v]\)) is i

-The results are shown in Figure 13. +The results are shown in Figure 13.

@@ -822,7 +1076,7 @@ Giff.OutputName = {'fu', 'fv'}; 

kp = 0.5*m*W^2;
-cp = 0.001;
+cp = 0;
 
 Giff_s = linearize(mdl, io, 0);
 
@@ -834,7 +1088,7 @@ Giff_s.OutputName = {'fu', 'fv'};
 
 

 
kp = 1.5*m*W^2;
-cp = 0.001;
+cp = 0;
 
 Giff_l = linearize(mdl, io, 0);
 
@@ -845,18 +1099,19 @@ Giff_l.OutputName = {'fu', 'fv'};
 

 
 
-

+

 
plant_iff_kp.png
 

 
Figure 13: Transfer function from \([F_u, F_v]\) to \([f_u, f_v]\) for \(k_p = 0\), \(k_p < m \Omega^2\) and \(k_p > m \Omega^2\)
-
-

4.6 IFF when adding a spring in parallel

+ +
+

4.6 IFF when adding a spring in parallel

-In Figure 14 is displayed the Root Locus in the three considered cases with +In Figure 14 is displayed the Root Locus in the three considered cases with

\begin{equation} K_{\text{IFF}} = \frac{g}{s} \begin{bmatrix} @@ -877,7 +1132,7 @@ Thus, decentralized IFF controller with pure integrators can be used if: \end{equation} -
+

root_locus_iff_kp.png

Figure 14: Root Locus

@@ -885,8 +1140,8 @@ Thus, decentralized IFF controller with pure integrators can be used if:
-
-

4.7 Effect of \(k_p\) on the attainable damping

+
+

4.7 Effect of \(k_p\) on the attainable damping

However, having large values of \(k_p\) may: @@ -897,7 +1152,7 @@ However, having large values of \(k_p\) may:

-To study the second point, Root Locus plots for the following values of \(k_p\) are shown in Figure 15. +To study the second point, Root Locus plots for the following values of \(k_p\) are shown in Figure 15. 

kps = [1, 5, 10, 50]*m*W^2;
@@ -910,15 +1165,16 @@ It is shown that large values of \(k_p\) decreases the attainable damping.
 

 
 
-

+

 
root_locus_iff_kps.png
 

+
Figure 15: Root Locus plot
-
-

4.8 Optimal Gain

+
+

4.8 Optimal Gain

Let’s take \(k_p = 5 m \Omega^2\) and find the optimal IFF control gain \(g\) such that maximum damping are added to the poles of the closed loop system. @@ -952,24 +1208,25 @@ end

-
+

root_locus_opt_gain_iff_kp.png

+

Figure 16: Root Locus for \(k_p = 5 m \Omega^2\) and the poles corresponding to the identified optimal gain

-
-

5 Direct Velocity Feedback

+
+

5 Direct Velocity Feedback

- +

-
-

5.1 Equations

+
+

5.1 Equations

The sensed relative velocity are equal to: @@ -977,20 +1234,34 @@ The sensed relative velocity are equal to:

\begin{equation} \begin{bmatrix} \dot{d}_u \\ \dot{d}_v \end{bmatrix} = -\frac{s \frac{1}{k}}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} -\begin{bmatrix} - \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} & 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \\ - -2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} & \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ -\end{bmatrix} +\bm{G}_v \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} +\begin{equation} +\begin{bmatrix} \dot{d}_u \\ \dot{d}_v \end{bmatrix} = +\frac{s}{k} \frac{1}{G_{vp}} +\begin{bmatrix} + G_{vz} & G_{vc} \\ + -G_{vc} & G_{vz} +\end{bmatrix} +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} +

+With: +

+\begin{align} + G_{vp} &= \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{vz} &= \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ + G_{vc} &= 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} +\end{align} +
-
-

5.2 Plant Parameters

+
+

5.2 Plant Parameters

Let’s define initial values for the model. @@ -1010,8 +1281,8 @@ w0 = sqrt(k/m); % [rad/s]

-
-

5.3 Plant - Bode Plot

+
+

5.3 Plant - Bode Plot

The rotating speed is set to \(\Omega = 0.1 \omega_0\). @@ -1046,8 +1317,8 @@ Gdvf.OutputName = {'Vu', 'Vv'};

-
-

5.4 Comparison of the Analytical Model and the Simscape Model

+
+

5.4 Comparison of the Analytical Model and the Simscape Model

The same transfer function from \([F_u, F_v]\) to \([v_u, v_v]\) is written down from the analytical model. @@ -1063,11 +1334,11 @@ Gdvf_th.OutputName = {'vu', 'vv'};

-The two are compared in Figure 5 and found to perfectly match. +The two are compared in Figure 5 and found to perfectly match.

-
+

plant_dvf_comp_simscape_analytical.png

Figure 17: Comparison of the transfer functions from \([F_u, F_v]\) to \([v_u, v_v]\) between the Simscape model and the analytical one

@@ -1075,8 +1346,8 @@ The two are compared in Figure 5 and found to perfectl
-
-

5.5 Root Locus

+
+

5.5 Root Locus

The Decentralized Direct Velocity Feedback controller consist of a pure gain on the diagonal: @@ -1089,7 +1360,7 @@ The Decentralized Direct Velocity Feedback controller consist of a pure gain on \end{equation}

-The corresponding Root Locus plots for the following rotating speeds are shown in Figure 18. +The corresponding Root Locus plots for the following rotating speeds are shown in Figure 18. 

Ws = [0, 0.1, 0.5, 0.8, 1.1]*w0; % Rotating Speeds [rad/s]
@@ -1099,9 +1370,17 @@ The corresponding Root Locus plots for the following rotating speeds are shown i
 

 It is shown that for rotating speed \(\Omega < \omega_0\), the closed loop system is unconditionally stable and arbitrary damping can be added to the poles.
 

+

+
gains = logspace(-2, 2, 100);
+

+

+
+
+
5.5.0.1 Root Locus Plots
+
-
+

root_locus_dvf.png

Figure 18: Root Locus for the Decentralized Direct Velocity Feedback controller. Several rotating speed are shown.

@@ -1109,17 +1388,18 @@ It is shown that for rotating speed \(\Omega < \omega_0\), the closed loop syste
+
-
-

6 Comparison

+
+

6 Comparison

- +

-
-

6.1 Plant Parameters

+
+

6.1 Plant Parameters

Let’s define initial values for the model. @@ -1147,8 +1427,8 @@ The rotating speed is set to \(\Omega = 0.1 \omega_0\).

-
-

6.2 Root Locus

+
+

6.2 Root Locus

wi = 0.1*w0;
@@ -1219,15 +1499,16 @@ Gdvf.OutputName = {'Vu', 'Vv'};
-
+

comp_root_locus.png

+

Figure 19: Root Locus plot - Comparison of IFF with additional high pass filter, IFF with additional parallel stiffness and DVF

-
-

6.3 Controllers - Optimal Gains

+
+

6.3 Controllers - Optimal Gains

In order to compare to three considered Active Damping techniques, gains that yield maximum damping of all the modes are computed for each case. @@ -1277,11 +1558,11 @@ The obtained damping ratio and control are shown below.

-
-

6.4 Transmissibility

+
+

6.4 Transmissibility

- + 

%% Name of the Simulink File
@@ -1381,18 +1662,19 @@ Tdvf.OutputName = {'Dx', 'Dy'};
-
+

comp_transmissibility.png

+

Figure 20: Comparison of the transmissibility

-
-

6.5 Compliance

+
+

6.5 Compliance

- + 

%% Name of the Simulink File
@@ -1459,7 +1741,7 @@ Cdvf.OutputName = {'Dx', 'Dy'};
-
+

comp_compliance.png

Figure 21: Comparison of the obtained Compliance

@@ -1468,11 +1750,11 @@ Cdvf.OutputName = {'Dx', 'Dy'};
-
-

7 Notations

+
+

7 Notations

- +

@@ -1671,10 +1953,166 @@ Cdvf.OutputName = {'Dx', 'Dy'};
+ +
+

8 Function

+
+
+
+

8.1 Sort Poles for the Root Locus

+
+

+ +

+ +

+This Matlab function is accessible here. +

+
+ +
+

Function description

+
+
+
function [poles] = rootLocusPolesSorted(G, K, gains, args)
+% rootLocusPolesSorted -
+%
+% Syntax: [poles] = rootLocusPolesSorted(G, K, gains, args)
+%
+% Inputs:
+%    - G, K, gains, args -
+%
+% Outputs:
+%    - poles -
+
+
+
+
+ +
+

Optional Parameters

+
+
+
arguments
+    G
+    K
+    gains
+    args.minreal double {mustBeNumericOrLogical} = false
+    args.p_half  double {mustBeNumericOrLogical} = false
+    args.d_max   double {mustBeNumeric} = -1
+end
+
+
+
+
+ +
+

Function

+
+
+
if args.minreal
+    p1 = pole(minreal(feedback(G, gains(1)*K)));
+    [~, i_uniq] = uniquetol([real(p1), imag(p1)], 1e-10, 'ByRows', true);
+    p1 = p1(i_uniq);
+
+    poles = zeros(length(p1), length(gains));
+    poles(:, 1) = p1;
+else
+    p1 = pole(feedback(G, gains(1)*K));
+    [~, i_uniq] = uniquetol([real(p1), imag(p1)], 1e-10, 'ByRows', true);
+    p1 = p1(i_uniq);
+
+    poles = zeros(length(p1), length(gains));
+    poles(:, 1) = p1;
+end
+
+
+ +
+
if args.minreal
+    p2 = pole(minreal(feedback(G, gains(2)*K)));
+    [~, i_uniq] = uniquetol([real(p2), imag(p2)], 1e-10, 'ByRows', true);
+    p2 = p2(i_uniq);
+    poles(:, 2) = p2;
+else
+    p2 = pole(feedback(G, gains(2)*K));
+    [~, i_uniq] = uniquetol([real(p2), imag(p2)], 1e-10, 'ByRows', true);
+    p2 = p2(i_uniq);
+    poles(:, 2) = p2;
+end
+
+
+ +
+
for g_i = 3:length(gains)
+    % Estimated value of the poles
+    poles_est = poles(:, g_i-1) + (poles(:, g_i-1) - poles(:, g_i-2))*(gains(g_i) - gains(g_i-1))/(gains(g_i-1) - gains(g_i - 2));
+
+    % New values for the poles
+    poles_gi = pole(feedback(G, gains(g_i)*K));
+    [~, i_uniq] = uniquetol([real(poles_gi), imag(poles_gi)], 1e-10, 'ByRows', true);
+    poles_gi = poles_gi(i_uniq);
+
+    % Array of distances between all the poles
+    poles_dist = sqrt((poles_est-poles_gi.').*conj(poles_est-poles_gi.'));
+
+    % Get indices corresponding to distances from lowest to highest
+    [~, c] = sort(min(poles_dist));
+
+    as = 1:length(poles_gi);
+
+    % for each column of poles_dist corresponding to the i'th pole
+    % with closest previous poles
+    for p_i = c
+        % Get the indice a_i of the previous pole that is the closest
+        % to pole c(p_i)
+        [~, a_i] = min(poles_dist(:, p_i));
+
+        poles(as(a_i), g_i) = poles_gi(p_i);
+
+        % Remove old poles that are already matched
+        % poles_gi(as(a_i), :) = [];
+        poles_dist(a_i, :) = [];
+        as(a_i) = [];
+    end
+end
+
+
+
+
+ +
+

Remove useless poles

+
+
+
if args.d_max > 0
+    poles = poles(max(abs(poles(:, 2:end) - poles(:, 1:end-1))') > args.d_max, :);
+end
+
+if args.p_half
+    poles = poles(1:round(end/2), :);
+end
+
+
+
+
+ +
+

Sort poles

+
+
+
[~, s_p] = sort(imag(poles(:,1)), 'descend');
+poles = poles(s_p, :);
+
+
+
+
+
+

Author: Thomas Dehaeze

-

Created: 2020-06-12 ven. 19:29

+

Created: 2020-06-18 jeu. 11:51

diff --git a/matlab/index.org b/matlab/index.org index ba137be..d2ad407 100644 --- a/matlab/index.org +++ b/matlab/index.org @@ -49,17 +49,14 @@ #+begin_src matlab addpath('./matlab/'); -#+end_src - -#+begin_src matlab - open('rotating_frame.slx'); + addpath('./src/'); #+end_src ** System description The system consists of one 2 degree of freedom translation stage on top of a spindle (figure [[fig:rotating_xy_platform]]). #+name: fig:rotating_xy_platform -#+caption: Figure caption +#+caption: Schematic of the studied system [[file:figs-tikz/rotating_xy_platform.png]] The control inputs are the forces applied by the actuators of the translation stage ($F_u$ and $F_v$). @@ -72,16 +69,29 @@ Based on the Figure [[fig:rotating_xy_platform]], the equations of motions are: #+begin_important \begin{equation} \begin{bmatrix} d_u \\ d_v \end{bmatrix} = -\frac{\frac{1}{k}}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} +\bm{G}_d +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{equation} +\begin{bmatrix} d_u \\ d_v \end{bmatrix} = +\frac{1}{k} \frac{1}{G_{dp}} \begin{bmatrix} - \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} & 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \\ - -2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} & \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ + G_{dz} & G_{dc} \\ + -G_{dc} & G_{dz} \end{bmatrix} \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} +With: +\begin{align} + G_{dp} &= \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{dz} &= \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ + G_{dc} &= 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} +\end{align} #+end_important Explain Coriolis and Centrifugal Forces (negative Stiffness) +=> First write the equations in terms of $k$, $m$ and $c$ and explain the terms. ** Numerical Values Let's define initial values for the model. @@ -140,7 +150,7 @@ It is shown in Figure [[fig:campbell_diagram]], and one can see that the system #+end_src #+begin_src matlab :tangle no :exports results :results file replace - exportFig('figs/campbell_diagram.pdf', 'width', 'full', 'height', 'tall'); + exportFig('figs/campbell_diagram.pdf', 'width', 'full', 'height', 'normal'); #+end_src #+name: fig:campbell_diagram @@ -148,7 +158,7 @@ It is shown in Figure [[fig:campbell_diagram]], and one can see that the system #+RESULTS: [[file:figs/campbell_diagram.png]] -#+begin_src matlab :exports none +#+begin_src matlab :exports none :tangle no figure; ax1 = subplot(1,2,1); @@ -159,10 +169,12 @@ It is shown in Figure [[fig:campbell_diagram]], and one can see that the system plot(Ws, zeros(size(Ws)), 'k--') hold off; xlabel('Rotation Frequency $\Omega$'); ylabel('Real Part'); - xticks([0, w0, 2*w0]) - xticklabels({'$0$', '$\omega_0$', '$2\omega_0$'}) - yticks([-xi, 0]) - yticklabels({'$-\xi$', '$0$'}) + xlim([0, 2*w0]); + xticks([0,w0/2,w0,3/2*w0,2*w0]) + xticklabels({'$0$', '', '$\omega_0$', '', '$2 \omega_0$'}) + ylim([-3*xi, xi]); + yticks([-3*xi, -2*xi, -xi, 0, xi]) + yticklabels({'', '', '$-\xi$', '$0$', ''}) ax2 = subplot(1,2,2); hold on; @@ -173,10 +185,16 @@ It is shown in Figure [[fig:campbell_diagram]], and one can see that the system plot(Ws, zeros(size(Ws)), 'k--') hold off; xlabel('Rotation Frequency $\Omega$'); ylabel('Imaginary Part'); - xticks([0, w0, 2*w0]) - xticklabels({'$0$', '$\omega_0$', '$2 \omega_0$'}) - yticks([-w0, 0, w0]) - yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + xlim([0, 2*w0]); + xticks([0,w0/2,w0,3/2*w0,2*w0]) + xticklabels({'$0$', '', '$\omega_0$', '', '$2 \omega_0$'}) + ylim([-3*w0, 3*w0]); + yticks([-3*w0, -2*w0, -w0, 0, w0, 2*w0, 3*w0]) + yticklabels({'', '', '$-\omega_0$', '$0$', '$\omega_0$', '', ''}) +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/campbell_diagram.pdf', 'width', 'full', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true); #+end_src ** Simscape Model @@ -193,6 +211,10 @@ Define the rotating speed for the Simscape Model. cp = 0; % Parallel Damping [N/(m/s)] #+end_src +#+begin_src matlab + open('rotating_frame.slx'); +#+end_src + The transfer function from $[F_u, F_v]$ to $[d_u, d_v]$ is identified from the Simscape model. #+begin_src matlab @@ -213,7 +235,6 @@ The transfer function from $[F_u, F_v]$ to $[d_u, d_v]$ is identified from the S G.OutputName = {'du', 'dv'}; #+end_src -** Comparison of the Analytical Model and the Simscape Model The same transfer function from $[F_u, F_v]$ to $[d_u, d_v]$ is written down from the analytical model. #+begin_src matlab Gth = (1/k)/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ... @@ -285,7 +306,7 @@ Both transfer functions are compared in Figure [[fig:plant_simscape_analytical]] ** Effect of the rotation speed The transfer functions from $[F_u, F_v]$ to $[d_u, d_v]$ are identified for the following rotating speeds. #+begin_src matlab - Ws = [0, 0.1, 0.5, 0.8, 1.1]*w0; % [rad/s] + Ws = [0, 0.2, 0.7, 1.1]*w0; % Rotating Speeds [rad/s] #+end_src #+begin_src matlab @@ -310,7 +331,7 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]]. hold on; for W_i = 1:length(Ws) plot(freqs, abs(squeeze(freqresp(Gs{W_i}(1,1), freqs))), ... - 'DisplayName', sprintf('$\\omega = %.1f \\omega_0 $', Ws(W_i)/w0)) + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Ws(W_i)/w0)) end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); @@ -332,8 +353,7 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]]. ax2 = subplot(2, 2, 2); hold on; for W_i = 1:length(Ws) - plot(freqs, abs(squeeze(freqresp(Gs{W_i}(2,1), freqs))), ... - 'DisplayName', sprintf('$\\omega = %.2f \\omega_0 $', Ws(W_i)/w0)) + plot(freqs, abs(squeeze(freqresp(Gs{W_i}(2,1), freqs)))) end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); @@ -365,6 +385,10 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]]. #+RESULTS: [[file:figs/plant_compare_rotating_speed.png]] +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/plant_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true); +#+end_src + * Problem with pure Integral Force Feedback <> @@ -383,10 +407,7 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]]. #+begin_src matlab addpath('./matlab/'); -#+end_src - -#+begin_src matlab - open('rotating_frame.slx'); + addpath('./src/'); #+end_src ** Plant Parameters @@ -423,13 +444,25 @@ Which then gives: #+begin_important \begin{equation} \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = -\frac{1}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} +\bm{G}_{f} +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{equation} +\begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = +\frac{1}{G_{fp}} \begin{bmatrix} - (\frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2}) (\frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2}) + (2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0})^2 & - (2 \xi \frac{s}{\omega_0} + 1) 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \\ - (2 \xi \frac{s}{\omega_0} + 1) 2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} & (\frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2}) (\frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2}) + (2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0})^2 \\ + G_{fz} & -G_{fc} \\ + G_{fc} & G_{fz} \end{bmatrix} \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} + +\begin{align} + G_{fp} &= \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{fz} &= \left( \frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2} \right) \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right) + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{fc} &= \left( 2 \xi \frac{s}{\omega_0} + 1 \right) \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right) +\end{align} #+end_important ** Simscape Model @@ -443,6 +476,10 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. Kdvf = tf(zeros(2)); #+end_src +#+begin_src matlab + open('rotating_frame.slx'); +#+end_src + And the transfer function from $[F_u, F_v]$ to $[f_u, f_v]$ is identified using the Simscape model. #+begin_src matlab %% Name of the Simulink File @@ -534,7 +571,7 @@ The two are compared in Figure [[fig:plant_iff_comp_simscape_analytical]] and fo ** Effect of the rotation speed The transfer functions from $[F_u, F_v]$ to $[f_u, f_v]$ are identified for the following rotating speeds. #+begin_src matlab - Ws = [0, 0.1, 0.5, 0.8, 1.1]*w0; % Rotating Speeds [rad/s] + Ws = [0, 0.2, 0.7, 1.1]*w0; % Rotating Speeds [rad/s] #+end_src #+begin_src matlab @@ -559,7 +596,7 @@ The obtained transfer functions are shown in Figure [[fig:plant_iff_compare_rota hold on; for W_i = 1:length(Ws) plot(freqs, abs(squeeze(freqresp(Gsiff{W_i}(1,1), freqs))), ... - 'DisplayName', sprintf('$\\omega = %.1f \\omega_0 $', Ws(W_i)/w0)) + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Ws(W_i)/w0)) end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); @@ -590,19 +627,11 @@ The obtained transfer functions are shown in Figure [[fig:plant_iff_compare_rota #+RESULTS: [[file:figs/plant_iff_compare_rotating_speed.png]] +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/plant_iff_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** Decentralized Integral Force Feedback -Let's take $\Omega = \frac{\omega_0}{10}$. -#+begin_src matlab - W = w0/10; -#+end_src - -#+begin_src matlab - Giff = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ... - [(s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)) + (2*W*s/(w0^2))^2, - (2*xi*s/w0 + 1)*2*W*s/(w0^2) ; ... - (2*xi*s/w0 + 1)*2*W*s/(w0^2), (s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))+ (2*W*s/(w0^2))^2]; - -#+end_src - The decentralized IFF controller consists of pure integrators: \begin{equation} \bm{K}_{\text{IFF}}(s) = \frac{g}{s} \begin{bmatrix} @@ -611,44 +640,9 @@ The decentralized IFF controller consists of pure integrators: \end{bmatrix} \end{equation} -#+begin_src matlab - g = 2; - - Kiff = g/s*tf(eye(2)); -#+end_src - The Root Locus (evolution of the poles of the closed loop system in the complex plane as a function of $g$) is shown in Figure [[fig:root_locus_pure_iff]]. It is shown that for non-null rotating speed, one pole is bound to the right-half plane, and thus the closed loop system is unstable. -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - figure; - - ax1 = subplot(2, 1, 1); - hold on; - for W_i = 1:length(Ws) - plot(freqs, abs(squeeze(freqresp(Gsiff{W_i}(1,1)*Kiff(1,1), freqs)))) - end - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); ylabel('Loop Gain'); - - ax2 = subplot(2, 1, 2); - hold on; - for W_i = 1:length(Ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gsiff{W_i}(1,1)*Kiff(1,1), freqs)))) - end - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); - yticks(-180:90:180); - ylim([-180 180]); - hold off; - - linkaxes([ax1,ax2],'x'); - xlim([freqs(1), freqs(end)]); -#+end_src - #+begin_src matlab :exports none figure; @@ -658,7 +652,7 @@ It is shown that for non-null rotating speed, one pole is bound to the right-hal for W_i = 1:length(Ws) set(gca,'ColorOrderIndex',W_i); plot(real(pole(Gsiff{W_i})), imag(pole(Gsiff{W_i})), 'x', ... - 'DisplayName', sprintf('$\\omega = %.1f \\omega_0 $', Ws(W_i)/w0)); + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Ws(W_i)/w0)); set(gca,'ColorOrderIndex',W_i); plot(real(tzero(Gsiff{W_i})), imag(tzero(Gsiff{W_i})), 'o', ... 'HandleVisibility', 'off'); @@ -686,7 +680,39 @@ It is shown that for non-null rotating speed, one pole is bound to the right-hal #+RESULTS: [[file:figs/root_locus_pure_iff.png]] -* Modified IFF (pseudo integrator) +#+begin_src matlab :exports none :tangle no + gains = logspace(-2, 4, 1000); + + figure; + hold on; + for W_i = 1:length(Ws) + + set(gca,'ColorOrderIndex',W_i); + plot(real(pole(Gsiff{W_i})), imag(pole(Gsiff{W_i})), 'x', ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Ws(W_i)/w0)); + set(gca,'ColorOrderIndex',W_i); + plot(real(tzero(Gsiff{W_i})), imag(tzero(Gsiff{W_i})), 'o', ... + 'HandleVisibility', 'off'); + poles = rootLocusPolesSorted(Gsiff{W_i}, 1/s*eye(2), gains, 'd_max', 1e-4); + for p_i = 1:size(poles, 2) + set(gca,'ColorOrderIndex',W_i); + plot(real(poles(:, p_i)), imag(poles(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + end + hold off; + axis square; + xlim([-2, 0.5]); ylim([0, 2.5]); + + xlabel('Real Part'); ylabel('Imaginary Part'); + legend('location', 'northwest'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_pure_iff.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + +* Integral Force Feedback with an High Pass Filter <> ** Introduction :ignore: @@ -703,10 +729,7 @@ It is shown that for non-null rotating speed, one pole is bound to the right-hal #+begin_src matlab addpath('./matlab/'); -#+end_src - -#+begin_src matlab - open('rotating_frame.slx'); + addpath('./src/'); #+end_src ** Plant Parameters @@ -775,9 +798,9 @@ The obtained Loop Gain is shown in Figure [[fig:loop_gain_modified_iff]]. ax2 = subplot(2, 1, 2); hold on; plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1)*(g/s), freqs))), ... - 'DisplayName', 'Pure Integrator') + 'DisplayName', 'IFF') plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1)*Kiff(1,1), freqs))), ... - 'DisplayName', 'Pseudo Integrator') + 'DisplayName', 'IFF + HPF') set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); yticks(-180:90:180); @@ -798,6 +821,10 @@ The obtained Loop Gain is shown in Figure [[fig:loop_gain_modified_iff]]. #+RESULTS: [[file:figs/loop_gain_modified_iff.png]] +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/loop_gain_modified_iff.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** Root Locus As shown in the Root Locus plot (Figure [[fig:root_locus_modified_iff]]), for some value of the gain, the system remains stable. @@ -810,7 +837,7 @@ As shown in the Root Locus plot (Figure [[fig:root_locus_modified_iff]]), for so hold on; % Pure Integrator set(gca,'ColorOrderIndex',1); - plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'Pure Int'); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'IFF'); set(gca,'ColorOrderIndex',1); plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', 'HandleVisibility', 'off'); for g = gains @@ -820,7 +847,7 @@ As shown in the Root Locus plot (Figure [[fig:root_locus_modified_iff]]), for so end % Modified IFF set(gca,'ColorOrderIndex',2); - plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'Pseudo Int'); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'IFF + HPF'); set(gca,'ColorOrderIndex',2); plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', 'HandleVisibility', 'off'); for g = gains @@ -871,6 +898,74 @@ As shown in the Root Locus plot (Figure [[fig:root_locus_modified_iff]]), for so #+RESULTS: [[file:figs/root_locus_modified_iff.png]] +#+begin_src matlab :exports none :tangle no + gains = logspace(-2, 3, 200); + + poles_iff = rootLocusPolesSorted(Giff, 1/s*eye(2), gains, 'd_max', 1e-4); + poles_iff_hpf = rootLocusPolesSorted(Giff, 1/(s + wi)*eye(2), gains, 'd_max', 1e-4); + + figure; + + ax1 = subplot(1, 2, 1); + hold on; + % Pure Integrator + set(gca,'ColorOrderIndex',1); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'IFF'); + set(gca,'ColorOrderIndex',1); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff, 2) + set(gca,'ColorOrderIndex',1); + plot(real(poles_iff(:, p_i)), imag(poles_iff(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + % Modified IFF + set(gca,'ColorOrderIndex',2); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'IFF + HPF'); + set(gca,'ColorOrderIndex',2); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff_hpf, 2) + set(gca,'ColorOrderIndex',2); + plot(real(poles_iff_hpf(:, p_i)), imag(poles_iff_hpf(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + hold off; + axis square; + xlim([-2, 0.5]); ylim([-1.25, 1.25]); + legend('location', 'northwest'); + xlabel('Real Part'); ylabel('Imaginary Part'); + + ax2 = subplot(1, 2, 2); + hold on; + % Pure Integrator + set(gca,'ColorOrderIndex',1); + plot(real(pole(Giff)), imag(pole(Giff)), 'x'); + set(gca,'ColorOrderIndex',1); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o'); + for p_i = 1:size(poles_iff, 2) + set(gca,'ColorOrderIndex',1); + plot(real(poles_iff(:, p_i)), imag(poles_iff(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + % Modified IFF + set(gca,'ColorOrderIndex',2); + plot(real(pole(Giff)), imag(pole(Giff)), 'x'); + set(gca,'ColorOrderIndex',2); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o'); + for p_i = 1:size(poles_iff_hpf, 2) + set(gca,'ColorOrderIndex',2); + plot(real(poles_iff_hpf(:, p_i)), imag(poles_iff_hpf(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + hold off; + axis square; + xlim([-0.2, 0.1]); ylim([-0.15, 0.15]); + xlabel('Real Part'); ylabel('Imaginary Part'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_modified_iff.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** What is the optimal $\omega_i$ and $g$? In order to visualize the effect of $\omega_i$ on the attainable damping, the Root Locus is displayed in Figure [[fig:root_locus_wi_modified_iff]] for the following $\omega_i$: #+begin_src matlab @@ -887,7 +982,7 @@ In order to visualize the effect of $\omega_i$ on the attainable damping, the Ro for wi_i = 1:length(wis) set(gca,'ColorOrderIndex',wi_i); wi = wis(wi_i); - L(wi_i) = plot(nan, nan, '.', 'DisplayName', sprintf('$\\omega_i = %.2f \\omega_0$', wi./w0)); + L(wi_i) = plot(nan, nan, '.', 'DisplayName', sprintf('$\\Omega_i = %.2f \\omega_0$', wi./w0)); for g = gains clpoles = pole(feedback(Giff, (g/(wi+s))*eye(2))); set(gca,'ColorOrderIndex',wi_i); @@ -934,6 +1029,64 @@ In order to visualize the effect of $\omega_i$ on the attainable damping, the Ro #+RESULTS: [[file:figs/root_locus_wi_modified_iff.png]] +#+begin_src matlab :exports none + gains = logspace(-2, 4, 100); + + poles_iff_hpf = rootLocusPolesSorted(Giff, 1/(s + wi)*eye(2), gains, 'd_max', 1e-4); + + figure; + + ax1 = subplot(1, 2, 1); + hold on; + for wi_i = 1:length(wis) + wi = wis(wi_i); + + set(gca,'ColorOrderIndex',wi_i); + L(wi_i) = plot(nan, nan, '.', 'DisplayName', sprintf('$\\Omega_i = %.2f \\omega_0$', wi./w0)); + + poles = rootLocusPolesSorted(Giff, 1/(s + wi)*eye(2), gains, 'd_max', 1e-4); + for p_i = 1:size(poles, 2) + set(gca,'ColorOrderIndex',wi_i); + plot(real(poles(:, p_i)), imag(poles(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + end + plot(real(pole(Giff)), imag(pole(Giff)), 'kx'); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko'); + hold off; + axis square; + xlim([-2.3, 0.1]); ylim([-1.2, 1.2]); + xticks([-2:1:2]); yticks([-2:1:2]); + legend(L, 'location', 'northwest'); + xlabel('Real Part'); ylabel('Imaginary Part'); + + clear L + + ax2 = subplot(1, 2, 2); + hold on; + for wi_i = 1:length(wis) + wi = wis(wi_i); + + poles = rootLocusPolesSorted(Giff, 1/(s + wi)*eye(2), gains, 'd_max', 1e-4); + for p_i = 1:size(poles, 2) + set(gca,'ColorOrderIndex',wi_i); + plot(real(poles(:, p_i)), imag(poles(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + end + plot(real(pole(Giff)), imag(pole(Giff)), 'kx'); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko'); + hold off; + axis square; + xlim([-0.2, 0.1]); ylim([-0.15, 0.15]); + xticks([-0.2:0.1:0.1]); yticks([-0.2:0.1:0.2]); + xlabel('Real Part'); ylabel('Imaginary Part'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_wi_modified_iff.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + For the controller \begin{equation} K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} @@ -942,9 +1095,8 @@ For the controller \end{bmatrix} \end{equation} The gain at which the system becomes unstable is -#+name: eq:iff_gmax \begin{equation} - g_\text{max} = \omega_i \left( \frac{{\omega_0}^2}{\Omega_2} - 1 \right) + g_\text{max} = \omega_i \left( \frac{{\omega_0}^2}{\Omega^2} - 1 \right) \label{eq:iff_gmax} \end{equation} While it seems that small $\omega_i$ do allow more damping to be added to the system (Figure [[fig:root_locus_wi_modified_iff]]), the control gains may be limited to small values due to eqref:eq:iff_gmax thus reducing the attainable damping. @@ -981,7 +1133,7 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode plot(wis, opt_zeta, '-o', 'DisplayName', '$\xi_{cl}$'); set(gca, 'YScale', 'lin'); ylim([0,1]); - ylabel('Attainable Damping Ration $\xi$'); + ylabel('Attainable Damping Ratio $\xi$'); yyaxis right hold on; @@ -1005,6 +1157,9 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode #+RESULTS: [[file:figs/mod_iff_damping_wi.png]] +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_wi_modified_iff.pdf', 'width', 'wide', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true); +#+end_src * IFF with a stiffness in parallel with the force sensor <> @@ -1021,11 +1176,69 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode #+begin_src matlab addpath('./matlab/'); + addpath('./src/'); #+end_src -#+begin_src matlab - open('rotating_frame.slx'); -#+end_src +** Schematic + +#+name: fig:rotating_xy_platform_springs +#+caption: Figure caption +[[file:figs-tikz/rotating_xy_platform_springs.png]] + +** Equations +#+begin_important +\begin{equation} +\begin{bmatrix} f_u \\ f_v \end{bmatrix} = +\bm{G}_k +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{equation} +\begin{bmatrix} f_u \\ f_v \end{bmatrix} = +\frac{1}{G_{kp}} +\begin{bmatrix} + G_{kz} & -G_{kc} \\ + G_{kc} & G_{kz} +\end{bmatrix} +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} +With: +\begin{align} + G_{kp} &= \left( \frac{s^2}{{\omega_0^\prime}^2} + 2\xi^\prime \frac{s}{{\omega_0^\prime}^2} + 1 - \frac{\Omega^2}{{\omega_0^\prime}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0^\prime}\frac{s}{\omega_0^\prime} \right)^2 \\ + G_{kz} &= \left( \frac{s^2}{{\omega_0^\prime}^2} + \frac{k_p}{k + k_p} - \frac{\Omega^2}{{\omega_0^\prime}^2} \right) \left( \frac{s^2}{{\omega_0^\prime}^2} + 2\xi^\prime \frac{s}{{\omega_0^\prime}^2} + 1 - \frac{\Omega^2}{{\omega_0^\prime}^2} \right) + \left( 2 \frac{\Omega}{\omega_0^\prime}\frac{s}{\omega_0^\prime} \right)^2 \\ + G_{kc} &= \left( 2 \xi^\prime \frac{s}{\omega_0^\prime} + \frac{k}{k + k_p} \right) \left( 2 \frac{\Omega}{\omega_0^\prime}\frac{s}{\omega_0^\prime} \right) +\end{align} +where: +- $\omega_0^\prime = \frac{k + k_p}{m}$ +- $\xi^\prime = \frac{c}{2 \sqrt{(k + k_p) m}}$ +#+end_important + +If we compare $G_{kz}$ and $G_{fz}$, we see that the spring in parallel adds a term $\frac{k_p}{k + k_p}$. +In order to have two complex conjugate zeros (instead of real zeros): +\begin{equation} + \frac{k_p}{k + k_p} - \frac{\Omega^2}{{\omega_0^\prime}^2} > 0 +\end{equation} +Which is equivalent to +\begin{equation} + k_p > m \Omega^2 +\end{equation} + +** Physical Explanation +- Negative stiffness induced by gyroscopic effects +- Zeros of the open-loop <=> Poles of the subsystem with the force sensors removes +- As the zeros are the poles of the closed loop system for high gains, we want them to be in the left-half plane +- Thus we want the zeros to be in the left half plant and thus the system with the force sensors stable +- This can be done by adding springs in parallel with the force sensors with a stiffness larger than the virtual negative stiffness added by the gyroscopic effects + +The negative stiffness induced by the rotation is: +\begin{equation} + k_{n} = - m \Omega^2 +\end{equation} + +And thus, the stiffness in parallel should be such that: +\begin{equation} + k_{p} > m \Omega^2 +\end{equation} ** Plant Parameters Let's define initial values for the model. @@ -1045,39 +1258,13 @@ Let's define initial values for the model. cp = 0; % [N/(m/s)] #+end_src -** Schematic - -#+name: fig:rotating_xy_platform_springs -#+caption: Figure caption -[[file:figs-tikz/rotating_xy_platform_springs.png]] - -** Physical Explanation -- Negative stiffness induced by gyroscopic effects -- Zeros of the open-loop <=> Poles of the subsystem with the force sensors removes -- As the zeros are the poles of the closed loop system for high gains, we want them to be in the left-half plane -- Thus we want the zeros to be in the left half plant and thus the system with the force sensors stable -- This can be done by adding springs in parallel with the force sensors with a stiffness larger than the virtual negative stiffness added by the gyroscopic effects - -The negative stiffness induced by the rotation is: -\begin{equation} - k_{n} = - m \Omega^2 -\end{equation} - -And thus, the stiffness in parallel should be such that: -\begin{equation} - k_{p} > m \Omega^2 -\end{equation} - -** Equations -The equations should be the same as before by taking into account the additional stiffness. -It then may be better to write it in terms of $k$, $c$, $m$ instead of $\omega_0$ and $\xi$. - -I just have to determine the measured force by the sensor - -** Effect of the parallel stiffness on the IFF plant -The rotation speed is set to $\Omega = 0.1 \omega_0$. +** Comparison of the Analytical Model and the Simscape Model +The same transfer function from $[F_u, F_v]$ to $[f_u, f_v]$ is written down from the analytical model. #+begin_src matlab W = 0.1*w0; % [rad/s] + + kp = 1.5*m*W^2; + cp = 0; #+end_src #+begin_src matlab :exports none @@ -1085,6 +1272,102 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. Kdvf = tf(zeros(2)); #+end_src +#+begin_src matlab + open('rotating_frame.slx'); +#+end_src + +#+begin_src matlab + %% Name of the Simulink File + mdl = 'rotating_frame'; + + %% Input/Output definition + clear io; io_i = 1; + io(io_i) = linio([mdl, '/K'], 1, 'openinput'); io_i = io_i + 1; + io(io_i) = linio([mdl, '/G'], 2, 'openoutput'); io_i = io_i + 1; + + Giff = linearize(mdl, io, 0); + + %% Input/Output definition + Giff.InputName = {'Fu', 'Fv'}; + Giff.OutputName = {'fu', 'fv'}; +#+end_src + +#+begin_src matlab + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); + + Giff_th = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2 ]; + Giff_th.InputName = {'Fu', 'Fv'}; + Giff_th.OutputName = {'fu', 'fv'}; +#+end_src + +#+begin_src matlab :exports none + freqs = logspace(-1, 1, 1000); + + figure; + ax1 = subplot(2, 2, 1); + hold on; + plot(freqs, abs(squeeze(freqresp(Giff(1,1), freqs))), '-') + plot(freqs, abs(squeeze(freqresp(Giff_th(1,1), freqs))), '--') + hold off; + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); + set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); + title('$f_u/F_u$, $f_v/F_v$'); + + ax3 = subplot(2, 2, 3); + hold on; + plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))), '-') + plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_th(1,1), freqs))), '--') + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); + xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); + yticks(-180:90:180); + ylim([-180 180]); + hold off; + + ax2 = subplot(2, 2, 2); + hold on; + plot(freqs, abs(squeeze(freqresp(Giff(1,2), freqs))), '-') + plot(freqs, abs(squeeze(freqresp(Giff_th(1,2), freqs))), '--') + hold off; + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); + set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); + title('$f_u/F_v$, $f_v/F_u$'); + + ax4 = subplot(2, 2, 4); + hold on; + plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,2), freqs))), '-', ... + 'DisplayName', 'Simscape') + plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_th(1,2), freqs))), '--', ... + 'DisplayName', 'Analytical') + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); + xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); + yticks(-180:90:180); + ylim([-180 180]); + hold off; + legend('location', 'northeast'); + + linkaxes([ax1,ax2,ax3,ax4],'x'); + xlim([freqs(1), freqs(end)]); + linkaxes([ax1,ax2],'y'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/plant_iff_kp_comp_simscape_analytical.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:plant_iff_kp_comp_simscape_analytical +#+caption: Comparison of the transfer functions from $[F_u, F_v]$ to $[f_u, f_v]$ between the Simscape model and the analytical one +#+RESULTS: +[[file:figs/plant_iff_kp_comp_simscape_analytical.png]] + +** Effect of the parallel stiffness on the IFF plant +The rotation speed is set to $\Omega = 0.1 \omega_0$. +#+begin_src matlab + W = 0.1*w0; % [rad/s] +#+end_src + And the IFF plant (transfer function from $[F_u, F_v]$ to $[f_u, f_v]$) is identified in three different cases: - without parallel stiffness - with a small parallel stiffness $k_p < m \Omega^2$ @@ -1094,47 +1377,40 @@ The results are shown in Figure [[fig:plant_iff_kp]]. One can see that for $k_p > m \Omega^2$, the systems shows alternating complex conjugate poles and zeros. -#+begin_src matlab :exports none - %% Name of the Simulink File - mdl = 'rotating_frame'; - - %% Input/Output definition - clear io; io_i = 1; - io(io_i) = linio([mdl, '/K'], 1, 'openinput'); io_i = io_i + 1; - io(io_i) = linio([mdl, '/G'], 2, 'openoutput'); io_i = io_i + 1; -#+end_src - #+begin_src matlab kp = 0; cp = 0; - Giff = linearize(mdl, io, 0); + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); - %% Input/Output definition - Giff.InputName = {'Fu', 'Fv'}; - Giff.OutputName = {'fu', 'fv'}; + Giff = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2]; #+end_src #+begin_src matlab kp = 0.5*m*W^2; - cp = 0.001; + cp = 0; - Giff_s = linearize(mdl, io, 0); + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); - %% Input/Output definition - Giff_s.InputName = {'Fu', 'Fv'}; - Giff_s.OutputName = {'fu', 'fv'}; + Giff_s = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2]; #+end_src #+begin_src matlab kp = 1.5*m*W^2; - cp = 0.001; + cp = 0; - Giff_l = linearize(mdl, io, 0); + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); - %% Input/Output definition - Giff_l.InputName = {'Fu', 'Fv'}; - Giff_l.OutputName = {'fu', 'fv'}; + Giff_l = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2]; #+end_src #+begin_src matlab :exports none @@ -1178,6 +1454,11 @@ One can see that for $k_p > m \Omega^2$, the systems shows alternating complex c #+caption: Transfer function from $[F_u, F_v]$ to $[f_u, f_v]$ for $k_p = 0$, $k_p < m \Omega^2$ and $k_p > m \Omega^2$ #+RESULTS: [[file:figs/plant_iff_kp.png]] + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/plant_iff_kp.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** IFF when adding a spring in parallel In Figure [[fig:root_locus_iff_kp]] is displayed the Root Locus in the three considered cases with \begin{equation} @@ -1293,6 +1574,100 @@ Thus, decentralized IFF controller with pure integrators can be used if: #+RESULTS: [[file:figs/root_locus_iff_kp.png]] +#+begin_src matlab :exports none :tangle no + gains = logspace(-2, 2, 200); + + poles_iff = rootLocusPolesSorted(Giff, 1/s*eye(2), gains, 'd_max', 1e-4); + poles_iff_s = rootLocusPolesSorted(Giff_s, 1/s*eye(2), gains, 'd_max', 1e-4); + poles_iff_l = rootLocusPolesSorted(Giff_l, 1/s*eye(2), gains, 'd_max', 1e-4); + + figure; + + subplot(1,2,1); + hold on; + set(gca,'ColorOrderIndex',1); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', ... + 'DisplayName', '$k_p = 0$'); + set(gca,'ColorOrderIndex',1); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', ... + 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff, 2) + set(gca,'ColorOrderIndex',1); + plot(real(poles_iff(:, p_i)), imag(poles_iff(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + + set(gca,'ColorOrderIndex',2); + plot(real(pole(Giff_s)), imag(pole(Giff_s)), 'x', ... + 'DisplayName', '$k_p < m\Omega^2$'); + set(gca,'ColorOrderIndex',2); + plot(real(tzero(Giff_s)), imag(tzero(Giff_s)), 'o', ... + 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff_s, 2) + set(gca,'ColorOrderIndex',2); + plot(real(poles_iff_s(:, p_i)), imag(poles_iff_s(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + + set(gca,'ColorOrderIndex',3); + plot(real(pole(Giff_l)), imag(pole(Giff_l)), 'x', ... + 'DisplayName', '$k_p > m\Omega^2$'); + set(gca,'ColorOrderIndex',3); + plot(real(tzero(Giff_l)), imag(tzero(Giff_l)), 'o', ... + 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff_l, 2) + set(gca,'ColorOrderIndex',3); + plot(real(poles_iff_l(:, p_i)), imag(poles_iff_l(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + hold off; + axis square; + xlim([-1, 0.2]); ylim([0, 1.2]); + + xlabel('Real Part'); ylabel('Imaginary Part'); + legend('location', 'northwest'); + + subplot(1,2,2); + hold on; + set(gca,'ColorOrderIndex',1); + plot(real(pole(Giff)), imag(pole(Giff)), 'x'); + set(gca,'ColorOrderIndex',1); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o'); + for p_i = 1:size(poles_iff, 2) + set(gca,'ColorOrderIndex',1); + plot(real(poles_iff(:, p_i)), imag(poles_iff(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + + set(gca,'ColorOrderIndex',2); + plot(real(pole(Giff_s)), imag(pole(Giff_s)), 'x'); + set(gca,'ColorOrderIndex',2); + plot(real(tzero(Giff_s)), imag(tzero(Giff_s)), 'o'); + for p_i = 1:size(poles_iff_s, 2) + set(gca,'ColorOrderIndex',2); + plot(real(poles_iff_s(:, p_i)), imag(poles_iff_s(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + + set(gca,'ColorOrderIndex',3); + plot(real(pole(Giff_l)), imag(pole(Giff_l)), 'x'); + set(gca,'ColorOrderIndex',3); + plot(real(tzero(Giff_l)), imag(tzero(Giff_l)), 'o'); + for p_i = 1:size(poles_iff_l, 2) + set(gca,'ColorOrderIndex',3); + plot(real(poles_iff_l(:, p_i)), imag(poles_iff_l(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + hold off; + axis square; + xlim([-0.04, 0.06]); ylim([0, 0.1]); + xlabel('Real Part'); ylabel('Imaginary Part'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_iff_kp.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** Effect of $k_p$ on the attainable damping However, having large values of $k_p$ may: - decrease the actuator force authority @@ -1300,8 +1675,7 @@ However, having large values of $k_p$ may: To study the second point, Root Locus plots for the following values of $k_p$ are shown in Figure [[fig:root_locus_iff_kps]]. #+begin_src matlab - kps = [1, 5, 10, 50]*m*W^2; - cp = 0.01; + kps = [2, 20, 40]*m*W^2; #+end_src It is shown that large values of $k_p$ decreases the attainable damping. @@ -1309,12 +1683,18 @@ It is shown that large values of $k_p$ decreases the attainable damping. #+begin_src matlab :exports none figure; - gains = logspace(-2, 4, 100); + gains = logspace(-2, 4, 500); hold on; for kp_i = 1:length(kps) kp = kps(kp_i); - Giff = linearize(mdl, io, 0); + + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); + + Giff = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2 ]; set(gca,'ColorOrderIndex',kp_i); plot(real(pole(Giff)), imag(pole(Giff)), 'x', ... @@ -1343,25 +1723,73 @@ It is shown that large values of $k_p$ decreases the attainable damping. #+end_src #+name: fig:root_locus_iff_kps -#+caption: +#+caption: Root Locus plot #+RESULTS: [[file:figs/root_locus_iff_kps.png]] +#+begin_src matlab :exports none :tangle no + gains = logspace(-2, 4, 500); + + figure; + + hold on; + for kp_i = 1:length(kps) + kp = kps(kp_i); + k = 1 - kp; + + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); + + Giff = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2 ]; + + poles_iff = rootLocusPolesSorted(Giff, 1/s*eye(2), gains, 'd_max', 1e-4); + + set(gca,'ColorOrderIndex',kp_i); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', ... + 'DisplayName', sprintf('$k_p = %.1f m \\Omega^2$', kp/(m*W^2))); + set(gca,'ColorOrderIndex',kp_i); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', ... + 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff, 2) + set(gca,'ColorOrderIndex', kp_i); + plot(real(poles_iff(:, p_i)), imag(poles_iff(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + end + hold off; + axis square; + xlim([-1.2, 0.2]); ylim([0, 1.4]); + + xlabel('Real Part'); ylabel('Imaginary Part'); + legend('location', 'northwest'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_iff_kps.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** Optimal Gain Let's take $k_p = 5 m \Omega^2$ and find the optimal IFF control gain $g$ such that maximum damping are added to the poles of the closed loop system. #+begin_src matlab kp = 5*m*W^2; cp = 0.01; - - Giff = linearize(mdl, io, 0); + + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); + + Giff = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2 ]; #+end_src #+begin_src matlab opt_zeta = 0; opt_gain = 0; - gains = logspace(-2, 4, 100); + gains = logspace(-2, 4, 1000); for g = gains Kiff = (g/s)*eye(2); @@ -1378,17 +1806,17 @@ Let's take $k_p = 5 m \Omega^2$ and find the optimal IFF control gain $g$ such t #+begin_src matlab :exports none figure; - gains = logspace(-2, 4, 100); + gains = logspace(-2, 4, 1000); hold on; plot(real(pole(Giff)), imag(pole(Giff)), 'kx'); plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko'); for g = gains - clpoles = pole(feedback(Giff, (g/s)*eye(2))); + clpoles = pole(minreal(feedback(Giff, (g/s)*eye(2)))); plot(real(clpoles), imag(clpoles), 'k.'); end % Optimal Gain - clpoles = pole(feedback(Giff, (opt_gain/s)*eye(2))); + clpoles = pole(minreal(feedback(Giff, (opt_gain/s)*eye(2)))); set(gca,'ColorOrderIndex',1); plot(real(clpoles), imag(clpoles), 'x'); for clpole = clpoles' @@ -1406,10 +1834,43 @@ Let's take $k_p = 5 m \Omega^2$ and find the optimal IFF control gain $g$ such t #+end_src #+name: fig:root_locus_opt_gain_iff_kp -#+caption: +#+caption: Root Locus for $k_p = 5 m \Omega^2$ and the poles corresponding to the identified optimal gain #+RESULTS: [[file:figs/root_locus_opt_gain_iff_kp.png]] +#+begin_src matlab :exports none :tangle no + gains = logspace(-2, 4, 1000); + + poles_iff = rootLocusPolesSorted(Giff, 1/s*eye(2), gains, 'd_max', 1e-4); + + figure; + + hold on; + plot(real(pole(Giff)), imag(pole(Giff)), 'kx'); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko'); + for p_i = 1:size(poles_iff, 2) + plot(real(poles_iff(:, p_i)), imag(poles_iff(:, p_i)), 'k-', ... + 'HandleVisibility', 'off'); + end + % Optimal Gain + clpoles = pole(minreal(feedback(Giff, (opt_gain/s)*eye(2)))); + set(gca,'ColorOrderIndex',1); + plot(real(clpoles), imag(clpoles), 'x'); + for clpole = clpoles' + set(gca,'ColorOrderIndex',1); + plot([0, real(clpole)], [0, imag(clpole)], '-', 'LineWidth', 1); + end + hold off; + axis square; + xlim([-1.2, 0.2]); ylim([0, 1.4]); + + xlabel('Real Part'); ylabel('Imaginary Part'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + * Direct Velocity Feedback <> @@ -1425,10 +1886,7 @@ Let's take $k_p = 5 m \Omega^2$ and find the optimal IFF control gain $g$ such t #+begin_src matlab addpath('./matlab/'); -#+end_src - -#+begin_src matlab - open('rotating_frame.slx'); + addpath('./src/'); #+end_src ** Equations @@ -1436,13 +1894,25 @@ The sensed relative velocity are equal to: #+begin_important \begin{equation} \begin{bmatrix} \dot{d}_u \\ \dot{d}_v \end{bmatrix} = -\frac{s \frac{1}{k}}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} +\bm{G}_v +\begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{equation} +\begin{bmatrix} \dot{d}_u \\ \dot{d}_v \end{bmatrix} = +\frac{s}{k} \frac{1}{G_{vp}} \begin{bmatrix} - \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} & 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \\ - -2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} & \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ + G_{vz} & G_{vc} \\ + -G_{vc} & G_{vz} \end{bmatrix} \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} +With: +\begin{align} + G_{vp} &= \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2 \\ + G_{vz} &= \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ + G_{vc} &= 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} +\end{align} #+end_important ** Plant Parameters @@ -1463,7 +1933,7 @@ Let's define initial values for the model. cp = 0; % [N/(m/s)] #+end_src -** Plant - Bode Plot +** Comparison of the Analytical Model and the Simscape Model The rotating speed is set to $\Omega = 0.1 \omega_0$. #+begin_src matlab W = 0.1*w0; @@ -1474,6 +1944,10 @@ The rotating speed is set to $\Omega = 0.1 \omega_0$. Kdvf = tf(zeros(2)); #+end_src +#+begin_src matlab + open('rotating_frame.slx'); +#+end_src + And the transfer function from $[F_u, F_v]$ to $[v_u, v_v]$ is identified using the Simscape model. #+begin_src matlab %% Name of the Simulink File @@ -1493,7 +1967,6 @@ And the transfer function from $[F_u, F_v]$ to $[v_u, v_v]$ is identified using Gdvf.OutputName = {'Vu', 'Vv'}; #+end_src -** Comparison of the Analytical Model and the Simscape Model The same transfer function from $[F_u, F_v]$ to $[v_u, v_v]$ is written down from the analytical model. #+begin_src matlab Gdvf_th = (s/k)/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ... @@ -1574,11 +2047,10 @@ The Decentralized Direct Velocity Feedback controller consist of a pure gain on The corresponding Root Locus plots for the following rotating speeds are shown in Figure [[fig:root_locus_dvf]]. #+begin_src matlab - Ws = [0, 0.1, 0.5, 0.8, 1.1]*w0; % Rotating Speeds [rad/s] + Ws = [0, 0.2, 0.7, 1.1]*w0; % Rotating Speeds [rad/s] #+end_src It is shown that for rotating speed $\Omega < \omega_0$, the closed loop system is unconditionally stable and arbitrary damping can be added to the poles. - #+begin_src matlab :exports none gains = logspace(-2, 1, 100); @@ -1593,7 +2065,7 @@ It is shown that for rotating speed $\Omega < \omega_0$, the closed loop system set(gca,'ColorOrderIndex',W_i); plot(real(pole(Gdvf)), imag(pole(Gdvf)), 'x', ... - 'DisplayName', sprintf('$\\omega = %.2f \\omega_0 $', W/w0)); + 'DisplayName', sprintf('$\\Omega = %.2f \\omega_0 $', W/w0)); set(gca,'ColorOrderIndex',W_i); plot(real(tzero(Gdvf)), imag(tzero(Gdvf)), 'o', ... @@ -1624,6 +2096,45 @@ It is shown that for rotating speed $\Omega < \omega_0$, the closed loop system #+RESULTS: [[file:figs/root_locus_dvf.png]] +#+begin_src matlab :exports none + gains = logspace(-2, 1, 1000); + + figure; + hold on; + for W_i = 1:length(Ws) + W = Ws(W_i); + + Gdvf = (s/k)/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ... + [(s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2), 2*W*s/(w0^2) ; ... + -2*W*s/(w0^2), (s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)]; + + set(gca,'ColorOrderIndex',W_i); + plot(real(pole(Gdvf)), imag(pole(Gdvf)), 'x', ... + 'DisplayName', sprintf('$\\Omega = %.2f \\omega_0 $', W/w0)); + + set(gca,'ColorOrderIndex',W_i); + plot(real(tzero(Gdvf)), imag(tzero(Gdvf)), 'o', ... + 'HandleVisibility', 'off'); + + poles_dvf = rootLocusPolesSorted(Gdvf, eye(2), gains, 'd_max', 1e-4); + for p_i = 1:size(poles_dvf, 2) + set(gca,'ColorOrderIndex', W_i); + plot(real(poles_dvf(:, p_i)), imag(poles_dvf(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + end + hold off; + axis square; + xlim([-2, 0.5]); ylim([0, 2.5]); + + xlabel('Real Part'); ylabel('Imaginary Part'); + legend('location', 'northwest'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/root_locus_dvf.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + * Comparison <> @@ -1640,10 +2151,7 @@ It is shown that for rotating speed $\Omega < \omega_0$, the closed loop system #+begin_src matlab addpath('./matlab/'); -#+end_src - -#+begin_src matlab - open('rotating_frame.slx'); + addpath('./src/'); #+end_src ** Plant Parameters @@ -1664,94 +2172,43 @@ Let's define initial values for the model. cp = 0; % [N/(m/s)] #+end_src -#+begin_src matlab :exports none - Kiff = tf(zeros(2)); - Kdvf = tf(zeros(2)); -#+end_src - The rotating speed is set to $\Omega = 0.1 \omega_0$. #+begin_src matlab W = 0.1*w0; #+end_src ** Root Locus -*** Pseudo Integrator IFF :ignore: -#+begin_src matlab :exports none - kp = 0; - cp = 0; -#+end_src - +IFF with High Pass Filter #+begin_src matlab - wi = 0.1*w0; + wi = 0.1*w0; % [rad/s] + + Giff = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ... + [(s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)) + (2*W*s/(w0^2))^2, - (2*xi*s/w0 + 1)*2*W*s/(w0^2) ; ... + (2*xi*s/w0 + 1)*2*W*s/(w0^2), (s^2/w0^2 - W^2/w0^2)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))+ (2*W*s/(w0^2))^2]; #+end_src -#+begin_src matlab - %% Name of the Simulink File - mdl = 'rotating_frame'; - - %% Input/Output definition - clear io; io_i = 1; - io(io_i) = linio([mdl, '/K'], 1, 'openinput'); io_i = io_i + 1; - io(io_i) = linio([mdl, '/G'], 2, 'openoutput'); io_i = io_i + 1; -#+end_src - -#+begin_src matlab - Giff = linearize(mdl, io, 0); - - %% Input/Output definition - Giff.InputName = {'Fu', 'Fv'}; - Giff.OutputName = {'Fmu', 'Fmv'}; -#+end_src - -*** IFF With parallel Stiffness :ignore: +IFF With parallel Stiffness #+begin_src matlab kp = 5*m*W^2; - cp = 0.01; + k = k - kp; + + w0p = sqrt((k + kp)/m); + xip = c/(2*sqrt((k+kp)*m)); + + Giff_kp = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ... + (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2, -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)); + (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p)), (s^2/w0p^2 + kp/(k + kp) - W^2/w0p^2)*(s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2) + (2*(s/w0p)*(W/w0p))^2 ]; + + k = k + kp; #+end_src +DVF #+begin_src matlab - %% Name of the Simulink File - mdl = 'rotating_frame'; - - %% Input/Output definition - clear io; io_i = 1; - io(io_i) = linio([mdl, '/K'], 1, 'openinput'); io_i = io_i + 1; - io(io_i) = linio([mdl, '/G'], 2, 'openoutput'); io_i = io_i + 1; + Gdvf = (s/k)/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ... + [(s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2), 2*W*s/(w0^2) ; ... + -2*W*s/(w0^2), (s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2)]; #+end_src -#+begin_src matlab - Giff_kp = linearize(mdl, io, 0); - - %% Input/Output definition - Giff_kp.InputName = {'Fu', 'Fv'}; - Giff_kp.OutputName = {'Fmu', 'Fmv'}; -#+end_src - -*** DVF :ignore: -#+begin_src matlab :exports none - kp = 0; - cp = 0; -#+end_src - -#+begin_src matlab - %% Name of the Simulink File - mdl = 'rotating_frame'; - - %% Input/Output definition - clear io; io_i = 1; - io(io_i) = linio([mdl, '/K'], 1, 'openinput'); io_i = io_i + 1; - io(io_i) = linio([mdl, '/G'], 1, 'openoutput'); io_i = io_i + 1; -#+end_src - -#+begin_src matlab - Gdvf = linearize(mdl, io, 0); - - %% Input/Output definition - Gdvf.InputName = {'Fu', 'Fv'}; - Gdvf.OutputName = {'Vu', 'Vv'}; -#+end_src - -*** Root Locus :ignore: #+begin_src matlab :exports none figure; @@ -1760,7 +2217,7 @@ The rotating speed is set to $\Omega = 0.1 \omega_0$. hold on; set(gca,'ColorOrderIndex',1); plot(real(pole(Giff)), imag(pole(Giff)), 'x', ... - 'DisplayName', 'Pseudo Integrator'); + 'DisplayName', 'IFF + LFP'); set(gca,'ColorOrderIndex',1); plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', ... 'HandleVisibility', 'off'); @@ -1774,7 +2231,7 @@ The rotating speed is set to $\Omega = 0.1 \omega_0$. set(gca,'ColorOrderIndex',2); plot(real(pole(Giff_kp)), imag(pole(Giff_kp)), 'x', ... - 'DisplayName', 'Parallel Stiffness'); + 'DisplayName', 'IFF + $k_p$'); set(gca,'ColorOrderIndex',2); plot(real(tzero(Giff_kp)), imag(tzero(Giff_kp)), 'o', ... 'HandleVisibility', 'off'); @@ -1812,10 +2269,67 @@ The rotating speed is set to $\Omega = 0.1 \omega_0$. #+end_src #+name: fig:comp_root_locus -#+caption: +#+caption: Root Locus plot - Comparison of IFF with additional high pass filter, IFF with additional parallel stiffness and DVF #+RESULTS: [[file:figs/comp_root_locus.png]] +#+begin_src matlab :exports none :tangle no + gains = logspace(-2, 2, 1000); + + poles_iff_hpf = rootLocusPolesSorted(Giff, 1/(s + wi)*eye(2), gains, 'd_max', 1e-4); + poles_iff_kp = rootLocusPolesSorted(Giff_kp, 1/s*eye(2), gains, 'd_max', 1e-4); + poles_dvf = rootLocusPolesSorted(Gdvf, eye(2), gains, 'd_max', 1e-4); + + figure; + + hold on; + set(gca,'ColorOrderIndex',1); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', ... + 'DisplayName', 'IFF + LFP'); + set(gca,'ColorOrderIndex',1); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', ... + 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff_hpf, 2) + set(gca,'ColorOrderIndex',1); + plot(real(poles_iff_hpf(:, p_i)), imag(poles_iff_hpf(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + + set(gca,'ColorOrderIndex',2); + plot(real(pole(Giff_kp)), imag(pole(Giff_kp)), 'x', ... + 'DisplayName', 'IFF + $k_p$'); + set(gca,'ColorOrderIndex',2); + plot(real(tzero(Giff_kp)), imag(tzero(Giff_kp)), 'o', ... + 'HandleVisibility', 'off'); + for p_i = 1:size(poles_iff_kp, 2) + set(gca,'ColorOrderIndex',2); + plot(real(poles_iff_kp(:, p_i)), imag(poles_iff_kp(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + + set(gca,'ColorOrderIndex',3); + plot(real(pole(Gdvf)), imag(pole(Gdvf)), 'x', ... + 'DisplayName', 'DVF'); + set(gca,'ColorOrderIndex',3); + plot(real(tzero(Gdvf)), imag(tzero(Gdvf)), 'o', ... + 'HandleVisibility', 'off'); + for p_i = 1:size(poles_dvf, 2) + set(gca,'ColorOrderIndex',3); + plot(real(poles_dvf(:, p_i)), imag(poles_dvf(:, p_i)), '-', ... + 'HandleVisibility', 'off'); + end + hold off; + axis square; + xlim([-1.2, 0.05]); ylim([0, 1.25]); + + xlabel('Real Part'); ylabel('Imaginary Part'); + legend('location', 'northwest'); +#+end_src + +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/comp_root_locus.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** Controllers - Optimal Gains In order to compare to three considered Active Damping techniques, gains that yield maximum damping of all the modes are computed for each case. @@ -1883,11 +2397,16 @@ The obtained damping ratio and control are shown below. | | Obtained $\xi$ | Control Gain | |----------------+----------------+--------------| | Modified IFF | 0.83 | 2.0 | -| IFF with $k_p$ | 0.84 | 2.01 | +| IFF with $k_p$ | 0.83 | 2.01 | | DVF | 0.85 | 1.67 | ** Transmissibility <> + +#+begin_src matlab + open('rotating_frame.slx'); +#+end_src + *** Open Loop :ignore: #+begin_src matlab :exports none Kdvf = tf(zeros(2)); @@ -2014,17 +2533,17 @@ The obtained damping ratio and control are shown below. figure; hold on; plot(freqs, abs(squeeze(freqresp(Tiff(1,1), freqs))), ... - 'DisplayName', 'IFF Pseudo int') + 'DisplayName', 'IFF + HPF') plot(freqs, abs(squeeze(freqresp(Tiff_kp(1,1), freqs))), ... - 'DisplayName', 'IFF Paral. stiff') + 'DisplayName', 'IFF + $k_p$') plot(freqs, abs(squeeze(freqresp(Tdvf(1,1), freqs))), ... 'DisplayName', 'DVF') plot(freqs, abs(squeeze(freqresp(Tol(1,1), freqs))), 'k-', ... - 'DisplayName', 'IFF Pseudo int') + 'DisplayName', 'Open-Loop') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]'); - legend('location', 'northwest'); + legend('location', 'southwest'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace @@ -2032,10 +2551,14 @@ The obtained damping ratio and control are shown below. #+end_src #+name: fig:comp_transmissibility -#+caption: +#+caption: Comparison of the transmissibility #+RESULTS: [[file:figs/comp_transmissibility.png]] +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/comp_transmissibility.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + ** Compliance <> *** Open Loop :ignore: @@ -2134,13 +2657,13 @@ The obtained damping ratio and control are shown below. figure; hold on; plot(freqs, abs(squeeze(freqresp(Ciff(1,1), freqs))), ... - 'DisplayName', 'IFF Pseudo int') + 'DisplayName', 'IFF + LPF') plot(freqs, abs(squeeze(freqresp(Ciff_kp(1,1), freqs))), ... - 'DisplayName', 'IFF Paral. stiff') + 'DisplayName', 'IFF + $k_p$') plot(freqs, abs(squeeze(freqresp(Cdvf(1,1), freqs))), ... 'DisplayName', 'DVF') plot(freqs, abs(squeeze(freqresp(Col(1,1), freqs))), 'k-', ... - 'DisplayName', 'IFF Pseudo int') + 'DisplayName', 'Open-Loop') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]'); @@ -2156,6 +2679,10 @@ The obtained damping ratio and control are shown below. #+RESULTS: [[file:figs/comp_compliance.png]] +#+begin_src matlab :tangle no :exports none :results none + exportFig('figs-inkscape/comp_compliance.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); +#+end_src + * Notations <> @@ -2185,3 +2712,150 @@ The obtained damping ratio and control are shown below. | DVF Plant | $\bm{G}_\text{DVF}(s) = \frac{\bm{v}}{\bm{F}}$ | =Gdvf= | (m/s)/N | | IFF Controller | $\bm{K}_\text{IFF}(s)$ | =Kiff= | | | DVF Controller | $\bm{K}_\text{DVF}(s)$ | =Kdvf= | | + +* Function +** Sort Poles for the Root Locus +:PROPERTIES: +:header-args:matlab+: :tangle src/rootLocusPolesSorted.m +:header-args:matlab+: :comments none :mkdirp yes :eval no +:END: +<> + +This Matlab function is accessible [[file:src/rootLocusPolesSorted.m][here]]. + +*** Function description +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + function [poles] = rootLocusPolesSorted(G, K, gains, args) + % rootLocusPolesSorted - + % + % Syntax: [poles] = rootLocusPolesSorted(G, K, gains, args) + % + % Inputs: + % - G, K, gains, args - + % + % Outputs: + % - poles - +#+end_src + +*** Optional Parameters +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + arguments + G + K + gains + args.minreal double {mustBeNumericOrLogical} = false + args.p_half double {mustBeNumericOrLogical} = false + args.d_max double {mustBeNumeric} = -1 + end +#+end_src + +*** Function +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + if args.minreal + p1 = pole(minreal(feedback(G, gains(1)*K))); + [~, i_uniq] = uniquetol([real(p1), imag(p1)], 1e-10, 'ByRows', true); + p1 = p1(i_uniq); + + poles = zeros(length(p1), length(gains)); + poles(:, 1) = p1; + else + p1 = pole(feedback(G, gains(1)*K)); + [~, i_uniq] = uniquetol([real(p1), imag(p1)], 1e-10, 'ByRows', true); + p1 = p1(i_uniq); + + poles = zeros(length(p1), length(gains)); + poles(:, 1) = p1; + end +#+end_src + +#+begin_src matlab + if args.minreal + p2 = pole(minreal(feedback(G, gains(2)*K))); + [~, i_uniq] = uniquetol([real(p2), imag(p2)], 1e-10, 'ByRows', true); + p2 = p2(i_uniq); + poles(:, 2) = p2; + else + p2 = pole(feedback(G, gains(2)*K)); + [~, i_uniq] = uniquetol([real(p2), imag(p2)], 1e-10, 'ByRows', true); + p2 = p2(i_uniq); + poles(:, 2) = p2; + end +#+end_src + +#+begin_src matlab + for g_i = 3:length(gains) + % Estimated value of the poles + poles_est = poles(:, g_i-1) + (poles(:, g_i-1) - poles(:, g_i-2))*(gains(g_i) - gains(g_i-1))/(gains(g_i-1) - gains(g_i - 2)); + + % New values for the poles + poles_gi = pole(feedback(G, gains(g_i)*K)); + [~, i_uniq] = uniquetol([real(poles_gi), imag(poles_gi)], 1e-10, 'ByRows', true); + poles_gi = poles_gi(i_uniq); + + % Array of distances between all the poles + poles_dist = sqrt((poles_est-poles_gi.').*conj(poles_est-poles_gi.')); + + % Get indices corresponding to distances from lowest to highest + [~, c] = sort(min(poles_dist)); + + as = 1:length(poles_gi); + + % for each column of poles_dist corresponding to the i'th pole + % with closest previous poles + for p_i = c + % Get the indice a_i of the previous pole that is the closest + % to pole c(p_i) + [~, a_i] = min(poles_dist(:, p_i)); + + poles(as(a_i), g_i) = poles_gi(p_i); + + % Remove old poles that are already matched + % poles_gi(as(a_i), :) = []; + poles_dist(a_i, :) = []; + as(a_i) = []; + end + end +#+end_src + +*** Remove useless poles +:PROPERTIES: +:UNNUMBERED: t +:END: + +#+begin_src matlab + if args.d_max > 0 + poles = poles(max(abs(poles(:, 2:end) - poles(:, 1:end-1))') > args.d_max, :); + end + + if args.p_half + poles = poles(1:round(end/2), :); + end +#+end_src + +*** Sort poles +:PROPERTIES: +:UNNUMBERED: t +:END: + +#+begin_src matlab + [~, s_p] = sort(imag(poles(:,1)), 'descend'); + poles = poles(s_p, :); +#+end_src + +*** Transpose for easy plotting +:PROPERTIES: +:UNNUMBERED: t +:END: + +#+begin_src matlab + poles = poles.'; +#+end_src diff --git a/paper/paper.org b/paper/paper.org index e4ed2c9..628646a 100644 --- a/paper/paper.org +++ b/paper/paper.org @@ -65,7 +65,7 @@ - $k$: Actuator's Stiffness [N/m] - $m$: Payload's mass [kg] - $\omega_0 = \sqrt{\frac{k}{m}}$: Resonance of the (non-rotating) mass-spring system [rad/s] -- $\omega_r = \dot{\theta}$: rotation speed [rad/s] +- $\Omega = \dot{\theta}$: rotation speed [rad/s] #+name: fig:rotating_xy_platform @@ -141,7 +141,7 @@ Without the coupling terms, each equation is the equation of a one degree of fre Thus, the term $- m\dot{\theta}^2$ acts like a negative stiffness (due to *centrifugal forces*). ** Constant Rotating Speed -To simplify, let's consider a constant rotating speed $\dot{\theta} = \omega_r$ and thus $\ddot{\theta} = 0$. +To simplify, let's consider a constant rotating speed $\dot{\theta} = \Omega$ and thus $\ddot{\theta} = 0$. #+NAME: eq:coupledplant \begin{equation} @@ -154,13 +154,15 @@ To simplify, let's consider a constant rotating speed $\dot{\theta} = \omega_r$ \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} +# Explain each term + #+NAME: eq:coupled_plant \begin{equation} \begin{bmatrix} d_u \\ d_v \end{bmatrix} = -\frac{\frac{1}{k}}{\left( \frac{s^2}{{\omega_0}^2} + (1 - \frac{{\omega_r}^2}{{\omega_0}^2}) \right)^2 + \left( 2 \frac{{\omega_r} s}{{\omega_0}^2} \right)^2} +\frac{\frac{1}{k}}{\left( \frac{s^2}{{\omega_0}^2} + (1 - \frac{{\Omega}^2}{{\omega_0}^2}) \right)^2 + \left( 2 \frac{{\Omega} s}{{\omega_0}^2} \right)^2} \begin{bmatrix} - \frac{s^2}{{\omega_0}^2} + 1 - \frac{{\omega_r}^2}{{\omega_0}^2} & 2 \frac{\omega_r s}{{\omega_0}^2} \\ - -2 \frac{\omega_r s}{{\omega_0}^2} & \frac{s^2}{{\omega_0}^2} + 1 - \frac{{\omega_r}^2}{{\omega_0}^2} \\ + \frac{s^2}{{\omega_0}^2} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} & 2 \frac{\Omega s}{{\omega_0}^2} \\ + -2 \frac{\Omega s}{{\omega_0}^2} & \frac{s^2}{{\omega_0}^2} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \\ \end{bmatrix} \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation}