From a4a4e45d9ed098ab92416787bf066609bf593839 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Fri, 3 Jul 2020 17:04:51 +0200 Subject: [PATCH] Add abstract --- paper/paper.org | 12 +++++------- paper/paper.pdf | Bin 1463218 -> 1464067 bytes 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/paper/paper.org b/paper/paper.org index 5429d42..3513041 100644 --- a/paper/paper.org +++ b/paper/paper.org @@ -52,13 +52,11 @@ #+begin_export latex \abstract{ #+end_export - -# Get straight to the facts -# Decentralized Integral Force Feedback for rotating => unstable -# Two modifications are proposed -# adding an high pass filter -# adding stiffness in parallel with the force actuators - +This paper investigates the use of Integral Force Feedback (IFF) for the active damping of rotating mechanical systems. +Guaranteed stability, typical benefit of IFF, is lost as soon as the system is rotating due to gyroscopic effects. +To overcome this issue, two modifications of the classical IFF control are proposed. +The first consists of slightly modifying the control law while the second consists of adding springs in parallel with the force sensor. +Both proposed modifications are compared in terms of added damping, closed-loop compliance and transmissibility. #+begin_export latex } #+end_export diff --git a/paper/paper.pdf b/paper/paper.pdf index bd523a0f7ff39e0932b882a5aecc003e049558d4..005305d8535c5639787e7ac8819977824472c88d 100644 GIT binary patch delta 51538 zcmZU)V{o8P&^;R4w!N{jvF%N=8{4*?*v`hbZF6JWwr$+s`>%R$T};(f_34`V*gZX` z`_z|c1y*a-{(%K!=T3>Q!k`1R^kO$Sk$~xv6-nec2ZnLLi+d-53je^KAL0_LRdgOY zx+)EIuMRqyI^%S}=ZRc=&1l-PW1YlDOBO>s9^;jq1Ap_vHb29SDZk?SyaRiC6KhZ6 zz<_@4;K|0QW!G>Yl2G)T>(i@l?6uUtXC1R+zEeyF#gjq zLj`w8+LwHQmBAv%ofhz!Ge|Y&I>+6YP51=QxfNYz_r&Q8Jurw5KP0Vd02mCFcz)QU zjAimOQQ@*d-qd3q11Byf^sVVr-^v@S^Y7P(%nt!$Tr=PqbbLq%DpfAr2x%@m+x!`;r<$xg^!gc6y&L_wJ&S zi^$NMNXX8IE3KDJR9hvDzMDCfi_t#Ka|A4RTDE}KSx3RIi^rU4o2F~N2R>9^l_uo@ z=N~Plh2?UAzXc3eJ9Jw%i*d8O*DIP0RUhASkZ`NzmRR- 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