From c8ac218db5ebfddb0d9d5b67f4851a0e69b46aee Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Fri, 12 Jun 2020 19:19:19 +0200 Subject: [PATCH] Export all figures, update matlab file --- matlab/figs/campbell_diagram.pdf | Bin 0 -> 16640 bytes matlab/figs/campbell_diagram.png | Bin 0 -> 55113 bytes matlab/figs/comp_compliance.pdf | Bin 0 -> 62106 bytes matlab/figs/comp_compliance.png | Bin 0 -> 111254 bytes matlab/figs/comp_root_locus.pdf | Bin 0 -> 27013 bytes matlab/figs/comp_root_locus.png | Bin 0 -> 48263 bytes matlab/figs/comp_transmissibility.pdf | Bin 0 -> 59664 bytes matlab/figs/comp_transmissibility.png | Bin 0 -> 105286 bytes matlab/figs/loop_gain_modified_iff.pdf | Bin 0 -> 62114 bytes matlab/figs/loop_gain_modified_iff.png | Bin 0 -> 114069 bytes matlab/figs/mod_iff_damping_wi.pdf | Bin 0 -> 27857 bytes matlab/figs/mod_iff_damping_wi.png | Bin 0 -> 91434 bytes matlab/figs/plant_compare_rotating_speed.pdf | Bin 0 -> 217941 bytes matlab/figs/plant_compare_rotating_speed.png | Bin 0 -> 231066 bytes .../plant_dvf_comp_simscape_analytical.pdf | Bin 0 -> 83780 bytes .../plant_dvf_comp_simscape_analytical.png | Bin 0 -> 149427 bytes .../plant_iff_comp_simscape_analytical.pdf | Bin 0 -> 92234 bytes .../plant_iff_comp_simscape_analytical.png | Bin 0 -> 159914 bytes .../figs/plant_iff_compare_rotating_speed.pdf | Bin 0 -> 117689 bytes .../figs/plant_iff_compare_rotating_speed.png | Bin 0 -> 167744 bytes matlab/figs/plant_iff_kp.pdf | Bin 0 -> 86772 bytes matlab/figs/plant_iff_kp.png | Bin 0 -> 136207 bytes matlab/figs/plant_simscape_analytical.pdf | Bin 0 -> 92078 bytes matlab/figs/plant_simscape_analytical.png | Bin 0 -> 158354 bytes matlab/figs/root_locus_dvf.pdf | Bin 0 -> 35178 bytes matlab/figs/root_locus_dvf.png | Bin 0 -> 46150 bytes matlab/figs/root_locus_iff_kp.pdf | Bin 0 -> 39290 bytes matlab/figs/root_locus_iff_kp.png | Bin 0 -> 50474 bytes matlab/figs/root_locus_iff_kps.pdf | Bin 0 -> 33168 bytes matlab/figs/root_locus_iff_kps.png | Bin 0 -> 54641 bytes matlab/figs/root_locus_modified_iff.pdf | Bin 0 -> 44216 bytes matlab/figs/root_locus_modified_iff.png | Bin 0 -> 53779 bytes matlab/figs/root_locus_opt_gain_iff_kp.pdf | Bin 0 -> 13518 bytes matlab/figs/root_locus_opt_gain_iff_kp.png | Bin 0 -> 19728 bytes matlab/figs/root_locus_pure_iff.pdf | Bin 0 -> 41670 bytes matlab/figs/root_locus_pure_iff.png | Bin 0 -> 56365 bytes matlab/figs/root_locus_wi_modified_iff.pdf | Bin 0 -> 72776 bytes matlab/figs/root_locus_wi_modified_iff.png | Bin 0 -> 71876 bytes matlab/index.org | 1219 +++++++++++------ 39 files changed, 770 insertions(+), 449 deletions(-) create mode 100644 matlab/figs/campbell_diagram.pdf create mode 100644 matlab/figs/campbell_diagram.png create mode 100644 matlab/figs/comp_compliance.pdf create mode 100644 matlab/figs/comp_compliance.png create mode 100644 matlab/figs/comp_root_locus.pdf create mode 100644 matlab/figs/comp_root_locus.png create mode 100644 matlab/figs/comp_transmissibility.pdf create mode 100644 matlab/figs/comp_transmissibility.png create mode 100644 matlab/figs/loop_gain_modified_iff.pdf create mode 100644 matlab/figs/loop_gain_modified_iff.png create mode 100644 matlab/figs/mod_iff_damping_wi.pdf create mode 100644 matlab/figs/mod_iff_damping_wi.png create mode 100644 matlab/figs/plant_compare_rotating_speed.pdf create mode 100644 matlab/figs/plant_compare_rotating_speed.png create mode 100644 matlab/figs/plant_dvf_comp_simscape_analytical.pdf create mode 100644 matlab/figs/plant_dvf_comp_simscape_analytical.png create mode 100644 matlab/figs/plant_iff_comp_simscape_analytical.pdf create mode 100644 matlab/figs/plant_iff_comp_simscape_analytical.png create mode 100644 matlab/figs/plant_iff_compare_rotating_speed.pdf create mode 100644 matlab/figs/plant_iff_compare_rotating_speed.png create mode 100644 matlab/figs/plant_iff_kp.pdf create mode 100644 matlab/figs/plant_iff_kp.png create mode 100644 matlab/figs/plant_simscape_analytical.pdf create mode 100644 matlab/figs/plant_simscape_analytical.png create mode 100644 matlab/figs/root_locus_dvf.pdf create mode 100644 matlab/figs/root_locus_dvf.png create mode 100644 matlab/figs/root_locus_iff_kp.pdf create mode 100644 matlab/figs/root_locus_iff_kp.png create mode 100644 matlab/figs/root_locus_iff_kps.pdf create mode 100644 matlab/figs/root_locus_iff_kps.png create mode 100644 matlab/figs/root_locus_modified_iff.pdf create mode 100644 matlab/figs/root_locus_modified_iff.png create mode 100644 matlab/figs/root_locus_opt_gain_iff_kp.pdf create mode 100644 matlab/figs/root_locus_opt_gain_iff_kp.png create mode 100644 matlab/figs/root_locus_pure_iff.pdf create mode 100644 matlab/figs/root_locus_pure_iff.png create mode 100644 matlab/figs/root_locus_wi_modified_iff.pdf create mode 100644 matlab/figs/root_locus_wi_modified_iff.png diff --git a/matlab/figs/campbell_diagram.pdf b/matlab/figs/campbell_diagram.pdf new file mode 100644 index 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displacement of the sample with respect to a fixed reference frame. ** Equations -Based on the Figure [[fig:rotating_xy_platform]]. - +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} @@ -78,30 +79,29 @@ Based on the Figure [[fig:rotating_xy_platform]]. \end{bmatrix} \begin{bmatrix} F_u \\ F_v \end{bmatrix} \end{equation} +#+end_important Explain Coriolis and Centrifugal Forces (negative Stiffness) ** Numerical Values Let's define initial values for the model. #+begin_src matlab - k = 1; % [N/m] - m = 1; % [kg] - c = 0.05; % [N/(m/s)] + k = 1; % Actuator Stiffness [N/m] + c = 0.05; % Actuator Damping [N/(m/s)] + m = 1; % Payload mass [kg] +#+end_src +#+begin_src matlab xi = c/(2*sqrt(k*m)); w0 = sqrt(k/m); % [rad/s] #+end_src -We set the additional stiffness and damping to zero (this will be used later). -#+begin_src matlab - kp = 0; % [N/m] - cp = 0; % [N/(m/s)] -#+end_src - ** Campbell Diagram -The system becomes unstable for $\Omega > \omega_0$. +The Campbell Diagram displays the evolution of the real and imaginary parts of the system as a function of the rotating speed. -#+begin_src matlab +It is shown in Figure [[fig:campbell_diagram]], and one can see that the system becomes unstable for $\Omega > \omega_0$ (the real part of one of the poles becomes positive). + +#+begin_src matlab :exports code Ws = linspace(0, 2, 51); % Vector of considered rotation speed [rad/s] p_ws = zeros(4, length(Ws)); @@ -109,13 +109,15 @@ The system becomes unstable for $\Omega > \omega_0$. for W_i = 1:length(Ws) W = Ws(W_i); - polei = pole(1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2)); - [~, i_sort] = sort(imag(polei)); - p_ws(:, W_i) = polei(i_sort); + pole_G = pole(1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2)); + [~, i_sort] = sort(imag(pole_G)); + p_ws(:, W_i) = pole_G(i_sort); end + + clear pole_G; #+end_src -#+begin_src matlab +#+begin_src matlab :exports code figure; ax1 = subplot(1,2,1); @@ -137,18 +139,62 @@ The system becomes unstable for $\Omega > \omega_0$. xlabel('Rotation Frequency [rad/s]'); ylabel('Imaginary Part'); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/campbell_diagram.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:campbell_diagram +#+caption: Campbell Diagram +#+RESULTS: +[[file:figs/campbell_diagram.png]] + +#+begin_src matlab :exports none + figure; + + ax1 = subplot(1,2,1); + hold on; + for p_i = 1:size(p_ws, 1) + plot(Ws, real(p_ws(p_i, :)), 'k-') + end + 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({'$-\xi$', '$0$'}) + + ax2 = subplot(1,2,2); + hold on; + for p_i = 1:size(p_ws, 1) + plot(Ws, imag(p_ws(p_i, :)), 'k-') + plot(Ws, -imag(p_ws(p_i, :)), 'k-') + end + 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({'$-\omega_0$', '$0$', '$\omega_0$'}) +#+end_src + ** Simscape Model Define the rotating speed for the Simscape Model. #+begin_src matlab W = 0.1; % Rotation Speed [rad/s] #+end_src -No controller for now. -#+begin_src matlab +#+begin_src matlab :exports code Kiff = tf(zeros(2)); Kdvf = tf(zeros(2)); + + kp = 0; % Parallel Stiffness [N/m] + cp = 0; % Parallel Damping [N/(m/s)] #+end_src +The transfer function from $[F_u, F_v]$ to $[d_u, d_v]$ is identified from the Simscape model. + #+begin_src matlab %% Name of the Simulink File mdl = 'rotating_frame'; @@ -167,21 +213,24 @@ No controller for now. G.OutputName = {'du', 'dv'}; #+end_src -** Comparison with the model +** 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 - G_th = (1/k)/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ... + Gth = (1/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 :exports none +Both transfer functions are compared in Figure [[fig:plant_simscape_analytical]] and are found to perfectly match. + +#+begin_src matlab :exports code freqs = logspace(-1, 1, 1000); figure; ax1 = subplot(2, 2, 1); hold on; plot(freqs, abs(squeeze(freqresp(G(1,1), freqs))), '-') - plot(freqs, abs(squeeze(freqresp(G_th(1,1), freqs))), '--') + plot(freqs, abs(squeeze(freqresp(Gth(1,1), freqs))), '--') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); @@ -190,7 +239,7 @@ No controller for now. ax3 = subplot(2, 2, 3); hold on; plot(freqs, 180/pi*angle(squeeze(freqresp(G(1,1), freqs))), '-') - plot(freqs, 180/pi*angle(squeeze(freqresp(G_th(1,1), freqs))), '--') + plot(freqs, 180/pi*angle(squeeze(freqresp(Gth(1,1), freqs))), '--') set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); yticks(-180:90:180); @@ -200,7 +249,7 @@ No controller for now. ax2 = subplot(2, 2, 2); hold on; plot(freqs, abs(squeeze(freqresp(G(1,2), freqs))), '-') - plot(freqs, abs(squeeze(freqresp(G_th(1,2), freqs))), '--') + plot(freqs, abs(squeeze(freqresp(Gth(1,2), freqs))), '--') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); @@ -210,25 +259,116 @@ No controller for now. hold on; plot(freqs, 180/pi*angle(squeeze(freqresp(G(1,2), freqs))), '-', ... 'DisplayName', 'Simscape') - plot(freqs, 180/pi*angle(squeeze(freqresp(G_th(1,2), freqs))), '--', ... + plot(freqs, 180/pi*angle(squeeze(freqresp(Gth(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'); + legend('location', 'southwest'); 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_simscape_analytical.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:plant_simscape_analytical +#+caption: 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 +#+RESULTS: +[[file:figs/plant_simscape_analytical.png]] + +** 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] +#+end_src + +#+begin_src matlab + Gs = {zeros(2, 2, length(Ws))}; + + for W_i = 1:length(Ws) + W = Ws(W_i); + + Gs(:, :, W_i) = {(1/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 +#+end_src + +They are compared in Figure [[fig:plant_compare_rotating_speed]]. + +#+begin_src matlab :exports code + freqs = logspace(-2, 1, 1000); + + figure; + ax1 = subplot(2, 2, 1); + 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 $', Ws(W_i)/w0)) + end + hold off; + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); + set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); + legend('location', 'southwest'); + title('$d_u/F_u$, $d_v/F_v$'); + + ax3 = subplot(2, 2, 3); + hold on; + for W_i = 1:length(Ws) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{W_i}(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; + + 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 $', Ws(W_i)/w0)) + end + hold off; + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); + set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); + title('$d_u/F_v$, $d_v/F_u$'); + + ax4 = subplot(2, 2, 4); + hold on; + for W_i = 1:length(Ws) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{W_i}(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,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_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:plant_compare_rotating_speed +#+caption: Comparison of the transfer functions from $[F_u, F_v]$ to $[d_u, d_v]$ for several rotating speed +#+RESULTS: +[[file:figs/plant_compare_rotating_speed.png]] + * Problem with pure Integral Force Feedback <> ** Introduction :ignore: - - Diagram with the controller - Basic idea of IFF @@ -252,17 +392,17 @@ No controller for now. ** Plant Parameters Let's define initial values for the model. #+begin_src matlab - k = 1; % [N/m] - m = 1; % [kg] - c = 0.05; % [N/(m/s)] + k = 1; % Actuator Stiffness [N/m] + c = 0.05; % Actuator Damping [N/(m/s)] + m = 1; % Payload mass [kg] +#+end_src +#+begin_src matlab xi = c/(2*sqrt(k*m)); w0 = sqrt(k/m); % [rad/s] #+end_src -** No parallel stiffness -We set the additional stiffness and damping to zero (this will be used later). -#+begin_src matlab +#+begin_src matlab :exports code kp = 0; % [N/m] cp = 0; % [N/(m/s)] #+end_src @@ -292,53 +432,18 @@ Which then gives: \end{equation} #+end_important -** Poles and Zeros without damping :noexport: -#+begin_src matlab - syms W w0 xi positive - assumealso(w0 > W) - syms x -#+end_src - -#+begin_src matlab - z = (x^2/w0^2 - W^2/w0^2)*((x^2)/(w0^2) + 1 - (W^2)/(w0^2)) + (2*W*x/(w0^2))^2 == 0 - p = ((x^2)/(w0^2) + 1 - (W^2)/(w0^2))^2 + (2*W*x/(w0^2))^2 == 0 -#+end_src - -#+begin_src matlab - solve(p, x) -#+end_src - -#+begin_src matlab - solve(z, x) -#+end_src - -The zeros are the roots of: -\begin{equation} - \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 = 0 -\end{equation} - -Poles (without damping) -\begin{equation} - \left(\begin{array}{c} -w_{0}\,1{}\mathrm{i}-\mathrm{W}\,1{}\mathrm{i}\\ -w_{0}\,1{}\mathrm{i}+\mathrm{W}\,1{}\mathrm{i}\\ w_{0}\,1{}\mathrm{i}-\mathrm{W}\,1{}\mathrm{i}\\ w_{0}\,1{}\mathrm{i}+\mathrm{W}\,1{}\mathrm{i} \end{array}\right) -\end{equation} - -Zeros (without damping) -\begin{equation} - \left(\begin{array}{c} -\sqrt{-\frac{w_{0}\,\sqrt{{w_{0}}^2+8\,{\mathrm{W}}^2}}{2}-\frac{{w_{0}}^2}{2}-{\mathrm{W}}^2}\\ -\sqrt{\frac{w_{0}\,\sqrt{{w_{0}}^2+8\,{\mathrm{W}}^2}}{2}-\frac{{w_{0}}^2}{2}-{\mathrm{W}}^2}\\ \sqrt{-\frac{w_{0}\,\sqrt{{w_{0}}^2+8\,{\mathrm{W}}^2}}{2}-\frac{{w_{0}}^2}{2}-{\mathrm{W}}^2}\\ \sqrt{\frac{w_{0}\,\sqrt{{w_{0}}^2+8\,{\mathrm{W}}^2}}{2}-\frac{{w_{0}}^2}{2}-{\mathrm{W}}^2} \end{array}\right) -\end{equation} - ** Simscape Model The rotation speed is set to $\Omega = 0.1 \omega_0$. #+begin_src matlab W = 0.1*w0; % [rad/s] #+end_src -No controller for now. -#+begin_src matlab +#+begin_src matlab :exports code Kiff = tf(zeros(2)); Kdvf = tf(zeros(2)); #+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 mdl = 'rotating_frame'; @@ -357,14 +462,17 @@ No controller for now. Giff.OutputName = {'fu', 'fv'}; #+end_src -** Comparison with the model +** 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 Giff_th = 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 +The two are compared in Figure [[fig:plant_iff_comp_simscape_analytical]] and found to perfectly match. + +#+begin_src matlab :exports code freqs = logspace(-1, 1, 1000); figure; @@ -414,9 +522,19 @@ No controller for now. linkaxes([ax1,ax2],'y'); #+end_src -** Influence of the rotation speed on the IFF Plant +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/plant_iff_comp_simscape_analytical.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:plant_iff_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_comp_simscape_analytical.png]] + +** 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, 0.3, 0.8, 1.1]; % Rotating Speeds [rad/s] + Ws = [0, 0.1, 0.5, 0.8, 1.1]*w0; % Rotating Speeds [rad/s] #+end_src #+begin_src matlab @@ -431,7 +549,8 @@ No controller for now. end #+end_src -#+begin_src matlab :exports none +The obtained transfer functions are shown in Figure [[fig:plant_iff_compare_rotating_speed]]. +#+begin_src matlab :exports code freqs = logspace(-2, 1, 1000); figure; @@ -440,13 +559,12 @@ No controller for now. hold on; for W_i = 1:length(Ws) plot(freqs, abs(squeeze(freqresp(Gsiff{W_i}(1,1), freqs))), ... - 'DisplayName', sprintf('$\\omega = %.2f \\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'); set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); - legend('location', 'northwest'); - ylim([0, 1e3]); + legend('location', 'southeast'); ax2 = subplot(2, 1, 2); hold on; @@ -463,17 +581,29 @@ No controller for now. xlim([freqs(1), freqs(end)]); #+end_src -** Loop Gain +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/plant_iff_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:plant_iff_compare_rotating_speed +#+caption: Comparison of the transfer functions from $[F_u, F_v]$ to $[f_u, f_v]$ for several rotating speed +#+RESULTS: +[[file:figs/plant_iff_compare_rotating_speed.png]] + +** Decentralized Integral Force Feedback Let's take $\Omega = \frac{\omega_0}{10}$. #+begin_src matlab - W = 0.1*w0; + 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 controller contains pure integrators: +The decentralized IFF controller consists of pure integrators: \begin{equation} \bm{K}_{\text{IFF}}(s) = \frac{g}{s} \begin{bmatrix} 1 & 0 \\ @@ -487,6 +617,9 @@ The decentralized controller contains pure integrators: 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); @@ -494,14 +627,18 @@ The decentralized controller contains pure integrators: ax1 = subplot(2, 1, 1); hold on; - plot(freqs, abs(squeeze(freqresp(Giff(1,1)*Kiff(1,1), freqs)))) + 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; - plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1)*Kiff(1,1), freqs)))) + 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); @@ -512,24 +649,7 @@ The decentralized controller contains pure integrators: xlim([freqs(1), freqs(end)]); #+end_src -** Root Locus -#+begin_src matlab - Ws = [0, 0.1, 0.3, 0.8, 1.1]; -#+end_src - -#+begin_src matlab - Giff = {zeros(2, 2, length(Ws))}; - - for W_i = 1:length(Ws) - W = Ws(W_i); - - Giff(:, :, W_i) = {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 -#+end_src - -#+begin_src matlab :exports none +#+begin_src matlab :exports code figure; gains = logspace(-2, 4, 100); @@ -537,14 +657,14 @@ The decentralized controller contains pure integrators: hold on; for W_i = 1:length(Ws) set(gca,'ColorOrderIndex',W_i); - plot(real(pole(Giff{W_i})), imag(pole(Giff{W_i})), 'x', ... + 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(Giff{W_i})), imag(tzero(Giff{W_i})), 'o', ... + plot(real(tzero(Gsiff{W_i})), imag(tzero(Gsiff{W_i})), 'o', ... 'HandleVisibility', 'off'); for g = gains set(gca,'ColorOrderIndex',W_i); - cl_poles = pole(feedback(Giff{W_i}, g/s*eye(2))); + cl_poles = pole(feedback(Gsiff{W_i}, g/s*eye(2))); plot(real(cl_poles), imag(cl_poles), '.', ... 'HandleVisibility', 'off'); end @@ -557,13 +677,20 @@ The decentralized controller contains pure integrators: legend('location', 'northwest'); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/root_locus_pure_iff.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:root_locus_pure_iff +#+caption: Root Locus for the Decentralized Integral Force Feedback controller. Several rotating speed are shown. +#+RESULTS: +[[file:figs/root_locus_pure_iff.png]] + * Modified IFF (pseudo integrator) <> ** Introduction :ignore: - -- Diagram with the controller -- Basic idea of IFF +- Classical modification of the IFF ** Matlab Init :noexport:ignore: #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) @@ -585,57 +712,61 @@ The decentralized controller contains pure integrators: ** Plant Parameters Let's define initial values for the model. #+begin_src matlab - k = 1; % [N/m] - m = 1; % [kg] - c = 0.05; % [N/(m/s)] + k = 1; % Actuator Stiffness [N/m] + c = 0.05; % Actuator Damping [N/(m/s)] + m = 1; % Payload mass [kg] +#+end_src +#+begin_src matlab xi = c/(2*sqrt(k*m)); w0 = sqrt(k/m); % [rad/s] #+end_src -** No parallel stiffness -We set the additional stiffness and damping to zero (this will be used later). -#+begin_src matlab +#+begin_src matlab :exports code kp = 0; % [N/m] cp = 0; % [N/(m/s)] #+end_src -** Plant parameters -#+begin_src matlab - W = 0.1*w0; - - 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 - -** Control Law -Let's take the integral feedback controller as a low pass filter (pseudo integrator): +** 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: \begin{equation} - K_{\text{IFF}}(s) = g\frac{1}{1 + \frac{s}{\omega_i}} \begin{bmatrix} + K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} 1 & 0 \\ 0 & 1 \end{bmatrix} \end{equation} +where $\omega_i$ characterize down to which frequency the signal is integrated. +Let's arbitrary choose the following control parameters: #+begin_src matlab g = 2; - wi = w0; + wi = 0.1*w0; +#+end_src + +#+begin_src matlab :exports code + Kiff = (g/(wi+s))*eye(2); +#+end_src + +And the following rotating speed. +#+begin_src matlab :exports code + W = 0.1*w0; #+end_src #+begin_src matlab - Kiff = (g/(1+s/wi))*eye(2); + 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 -** Loop Gain -#+begin_src matlab +The obtained Loop Gain is shown in Figure [[fig:loop_gain_modified_iff]]. +#+begin_src matlab :exports code freqs = logspace(-2, 1, 1000); figure; ax1 = subplot(2, 1, 1); hold on; + plot(freqs, abs(squeeze(freqresp(Giff(1,1)*(g/s), freqs)))) plot(freqs, abs(squeeze(freqresp(Giff(1,1)*Kiff(1,1), freqs)))) hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); @@ -643,193 +774,242 @@ Let's take the integral feedback controller as a low pass filter (pseudo integra ax2 = subplot(2, 1, 2); hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1)*Kiff(1,1), freqs)))) + plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1)*(g/s), freqs))), ... + 'DisplayName', 'Pure Integrator') + plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1)*Kiff(1,1), freqs))), ... + 'DisplayName', 'Pseudo Integrator') set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); yticks(-180:90:180); ylim([-180 180]); + legend('location', 'southwest'); hold off; linkaxes([ax1,ax2],'x'); xlim([freqs(1), freqs(end)]); #+end_src -** Root Locus -As shown in the Root Locus plot, for some value of the gain, the system is stable. -(The system is however still not conditionally stable). - -#+begin_src matlab :exports none - figure; - - gains = logspace(-2, 4, 100); - - 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/(1+s/wi))*eye(2))); - plot(real(clpoles), imag(clpoles), 'k.'); - end - hold off; - axis square; - xlim([-2, 0.5]); ylim([-1.25, 1.25]); - - xlabel('Real Part'); ylabel('Imaginary Part'); -#+end_src - -** How does $\omega_i$ influences the attainable damping? Optimal Gain -The DC gain for $G_\text{IFF}$ is (for $\Omega < \omega_0$): -\begin{equation} - G_{\text{IFF}}(\omega = 0) = \frac{1}{1 - \frac{{\omega_0}^2}{\Omega^2}} \begin{bmatrix} - 1 & 0 \\ - 0 & 1 - \end{bmatrix} -\end{equation} - -The maximum gain where is system is still stable is -\begin{equation} - g_\text{max} = \frac{{\omega_0}^2}{\Omega^2} - 1 -\end{equation} - - -Root Locus => Small $\omega_i$ seems to allow more damping but may limit the gain. -#+begin_src matlab - wis = [0.01, 0.1, 0.5, 1]*w0; -#+end_src - -#+begin_src matlab - figure; - - gains = logspace(-2, 4, 100); - - hold on; - plot(real(pole(Giff)), imag(pole(Giff)), 'kx'); - plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko'); - for wi_i = 1:length(wis) - set(gca,'ColorOrderIndex',wi_i); - wi = wis(wi_i); - L(wi_i) = plot(nan, nan, '.', 'DisplayName', sprintf('$\\omega_i = %.1e \\omega_0$', wi./w0)); - for g = gains - clpoles = pole(feedback(Giff, (g/(1+s/wi))*eye(2))); - set(gca,'ColorOrderIndex',wi_i); - plot(real(clpoles), imag(clpoles), '.'); - end - end - hold off; - axis square; - xlim([-2, 0.5]); ylim([-1.25, 1.25]); - legend(L, 'location', 'northwest'); - xlabel('Real Part'); ylabel('Imaginary Part'); - - clear L -#+end_src - -Find wi that yields most damping => there is an optimum. -Limitation of small $\omega_i$: stability/gain margin -Limitation of large $\omega_i$: no damping attainable -#+begin_src matlab - opt_zeta = zeros(1, length(wis)); - opt_gain = zeros(1, length(wis)); - - for wi_i = 1:length(wis) - gains = linspace(0, w0^2/W^2 - 1, 100); - - for g = gains - Kiff = (g/(1+s/wis(wi_i)))*eye(2); - - [w, zeta] = damp(minreal(feedback(Giff, Kiff))); - - if min(zeta) > opt_zeta(wi_i) && all(zeta > 0) - opt_zeta(wi_i) = min(zeta); - opt_gain(wi_i) = min(gains(g_i)); - end - end - end -#+end_src - -#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*) - data2orgtable([wis; opt_zeta; opt_gain]', {}, {'wis', 'zeta', 'gain'}, ' %.3f '); +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/loop_gain_modified_iff.pdf', 'width', 'full', 'height', 'full'); #+end_src +#+name: fig:loop_gain_modified_iff +#+caption: Loop Gain for the modified IFF controller #+RESULTS: -| wis | zeta | gain | -|------+-------+------| -| 0.01 | 0.437 | 98.0 | -| 0.1 | 0.829 | 20.0 | -| 0.5 | 0.376 | 3.0 | -| 1.0 | 0.204 | 2.0 | +[[file:figs/loop_gain_modified_iff.png]] -Root Locus that shows the maximum damping attainable. -#+begin_src matlab +** 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. + +#+begin_src matlab :exports code figure; gains = logspace(-2, 4, 100); + ax1 = subplot(1, 2, 1); hold on; - plot(real(pole(Giff)), imag(pole(Giff)), 'kx', 'HandleVisibility', 'off'); - plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko', 'HandleVisibility', 'off'); - for wi_i = 1:length(wis) - wi = wis(wi_i); - for g = gains - clpoles = pole(feedback(Giff, (g/(1+s/wi))*eye(2))); - set(gca,'ColorOrderIndex',wi_i); - plot(real(clpoles), imag(clpoles), '.', 'HandleVisibility', 'off'); - end - clpoles = pole(feedback(Giff, (opt_gain(wi_i)/(1+s/wi))*eye(2))); - set(gca,'ColorOrderIndex',wi_i); - plot(real(clpoles), imag(clpoles), 'x', 'DisplayName', sprintf('$\\omega_i = %.2f \\omega_0$', wi./w0)); + % Pure Integrator + set(gca,'ColorOrderIndex',1); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'Pure Int'); + set(gca,'ColorOrderIndex',1); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', 'HandleVisibility', 'off'); + for g = gains + clpoles = pole(feedback(Giff, (g/s)*eye(2))); + set(gca,'ColorOrderIndex',1); + plot(real(clpoles), imag(clpoles), '.', 'HandleVisibility', 'off'); + end + % Modified IFF + set(gca,'ColorOrderIndex',2); + plot(real(pole(Giff)), imag(pole(Giff)), 'x', 'DisplayName', 'Pseudo Int'); + set(gca,'ColorOrderIndex',2); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', 'HandleVisibility', 'off'); + for g = gains + clpoles = pole(feedback(Giff, (g/(wi+s))*eye(2))); + set(gca,'ColorOrderIndex',2); + plot(real(clpoles), imag(clpoles), '.', '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 g = gains + clpoles = pole(feedback(Giff, (g/s)*eye(2))); + set(gca,'ColorOrderIndex',1); + plot(real(clpoles), imag(clpoles), '.'); + 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 g = gains + clpoles = pole(feedback(Giff, (g/(wi+s))*eye(2))); + set(gca,'ColorOrderIndex',2); + plot(real(clpoles), imag(clpoles), '.'); + 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 :exports none - [~, opt_i] = max(opt_zeta); - Kiff_opt = (opt_gain(opt_i)/(1 + s/wis(opt_i)))*eye(2); - Giff_cl = feedback(Giff, Kiff_opt); +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/root_locus_modified_iff.pdf', 'width', 'full', 'height', 'tall'); #+end_src -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); +#+name: fig:root_locus_modified_iff +#+caption: Root Locus for the modified IFF controller +#+RESULTS: +[[file:figs/root_locus_modified_iff.png]] +** 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 + wis = [0.01, 0.1, 0.5, 1]*w0; % [rad/s] +#+end_src + +#+begin_src matlab :exports code figure; - ax1 = subplot(2, 1, 1); - hold on; - plot(freqs, abs(squeeze(freqresp(Giff(1,1), freqs)))) - plot(freqs, abs(squeeze(freqresp(Giff_cl(1,1), freqs)))) - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); + gains = logspace(-2, 4, 100); - ax2 = subplot(2, 1, 2); + ax1 = subplot(1, 2, 1); hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))), ... - 'DisplayName', 'Open Loop') - plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_cl(1,1), freqs))), ... - 'DisplayName', 'Closed Loop') - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); - yticks(-180:90:180); - ylim([-180 180]); + 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)); + for g = gains + clpoles = pole(feedback(Giff, (g/(wi+s))*eye(2))); + set(gca,'ColorOrderIndex',wi_i); + plot(real(clpoles), imag(clpoles), '.'); + end + end + plot(real(pole(Giff)), imag(pole(Giff)), 'kx'); + plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko'); hold off; - legend('location', 'northeast'); + 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'); - linkaxes([ax1,ax2],'x'); - xlim([freqs(1), freqs(end)]); + clear L + + ax2 = subplot(1, 2, 2); + hold on; + for wi_i = 1:length(wis) + set(gca,'ColorOrderIndex', wi_i); + wi = wis(wi_i); + for g = gains + clpoles = pole(feedback(Giff, (g/(wi+s))*eye(2))); + set(gca,'ColorOrderIndex', wi_i); + plot(real(clpoles), imag(clpoles), '.'); + 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 results :results file replace + exportFig('figs/root_locus_wi_modified_iff.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:root_locus_wi_modified_iff +#+caption: Root Locus for the modified IFF controller (zoomed plot on the left) +#+RESULTS: +[[file:figs/root_locus_wi_modified_iff.png]] + +For the controller +\begin{equation} + K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} + 1 & 0 \\ + 0 & 1 +\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) +\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. + + +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 [[fig:mod_iff_damping_wi]]). +#+begin_src matlab + wis = logspace(-2, 1, 31)*w0; % [rad/s] + + opt_zeta = zeros(1, length(wis)); % Optimal simultaneous damping + opt_gain = zeros(1, length(wis)); % Corresponding optimal gain + + for wi_i = 1:length(wis) + wi = wis(wi_i); + gains = linspace(0, (w0^2/W^2 - 1)*wi, 100); + + for g = gains + Kiff = (g/(wi+s))*eye(2); + + [w, zeta] = damp(minreal(feedback(Giff, Kiff))); + + if min(zeta) > opt_zeta(wi_i) && all(zeta > 0) + opt_zeta(wi_i) = min(zeta); + opt_gain(wi_i) = g; + end + end + end +#+end_src + +#+begin_src matlab :exports code + figure; + yyaxis left + plot(wis, opt_zeta, '-o', 'DisplayName', '$\xi_{cl}$'); + set(gca, 'YScale', 'lin'); + ylim([0,1]); + ylabel('Attainable Damping Ration $\xi$'); + + yyaxis right + hold on; + plot(wis, opt_gain, '-x', 'DisplayName', '$g_{opt}$'); + plot(wis, wis*((w0/W)^2 - 1), '--', 'DisplayName', '$g_{max}$'); + set(gca, 'YScale', 'lin'); + ylim([0,10]); + ylabel('Controller gain $g$'); + + xlabel('$\omega_i/\omega_0$'); + set(gca, 'XScale', 'log'); + legend('location', 'northeast'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/mod_iff_damping_wi.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:mod_iff_damping_wi +#+caption: Simultaneous attainable damping of the closed loop poles as a function of $\omega_i$ +#+RESULTS: +[[file:figs/mod_iff_damping_wi.png]] + + * IFF with a stiffness in parallel with the force sensor <> ** Introduction :ignore: - -- Diagram with the controller -- Basic idea of IFF - ** Matlab Init :noexport:ignore: #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) <> @@ -850,17 +1030,24 @@ Root Locus that shows the maximum damping attainable. ** Plant Parameters Let's define initial values for the model. #+begin_src matlab - k = 1; % [N/m] - m = 1; % [kg] - c = 0.05; % [N/(m/s)] + k = 1; % Actuator Stiffness [N/m] + c = 0.05; % Actuator Damping [N/(m/s)] + m = 1; % Payload mass [kg] +#+end_src +#+begin_src matlab xi = c/(2*sqrt(k*m)); w0 = sqrt(k/m); % [rad/s] #+end_src +#+begin_src matlab :exports code + kp = 0; % [N/m] + cp = 0; % [N/(m/s)] +#+end_src + ** Schematic -#+name: fig:figure_name +#+name: fig:rotating_xy_platform_springs #+caption: Figure caption [[file:figs-tikz/rotating_xy_platform_springs.png]] @@ -881,28 +1068,33 @@ And thus, the stiffness in parallel should be such that: k_{p} > m \Omega^2 \end{equation} -** TODO Equations -The equations should be the same as before by taking $k = k^\prime + k_a$. +** 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 -Let's fix the rotating speed: +The rotation speed is set to $\Omega = 0.1 \omega_0$. #+begin_src matlab - W = 0.1*w0; + W = 0.1*w0; % [rad/s] #+end_src -And no controller is used. -#+begin_src matlab +#+begin_src matlab :exports code Kiff = tf(zeros(2)); Kdvf = tf(zeros(2)); #+end_src -And the IFF plant is identified in three different cases: +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 $k_p < m \Omega^2$ - with a large parallel stiffness $k_p > m \Omega^2$ - -#+begin_src matlab + +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 code %% Name of the Simulink File mdl = 'rotating_frame'; @@ -945,7 +1137,7 @@ And the IFF plant is identified in three different cases: Giff_l.OutputName = {'fu', 'fv'}; #+end_src -#+begin_src matlab +#+begin_src matlab :exports code freqs = logspace(-2, 1, 1000); figure; @@ -978,26 +1170,40 @@ And the IFF plant is identified in three different cases: xlim([freqs(1), freqs(end)]); #+end_src -** Parallel Stiffness effect -Pure IFF controller can be used if: +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/plant_iff_kp.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:plant_iff_kp +#+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]] +** 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} + K_{\text{IFF}} = \frac{g}{s} \begin{bmatrix} + 1 & 0 \\ + 0 & 1 +\end{bmatrix} +\end{equation} + +One can see that for $k_p > m \Omega^2$, the root locus stays in the left half of the complex plane and thus the control system is unconditionally stable. + +Thus, decentralized IFF controller with pure integrators can be used if: \begin{equation} k_{p} > m \Omega^2 \end{equation} -However, having large values of $k_p$ may: -- decrease the actuator stroke -- decrease the attainable damping (section about optimal value) - -** Root locus -#+begin_src matlab :exports none +#+begin_src matlab :exports code figure; gains = logspace(-2, 2, 100); + subplot(1,2,1); hold on; set(gca,'ColorOrderIndex',1); plot(real(pole(Giff)), imag(pole(Giff)), 'x', ... - 'DisplayName', '$k_p < m\Omega^2$'); + 'DisplayName', '$k_p = 0$'); set(gca,'ColorOrderIndex',1); plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', ... 'HandleVisibility', 'off'); @@ -1039,15 +1245,68 @@ However, having large values of $k_p$ may: 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 g = gains + cl_poles = pole(feedback(Giff, (g/s)*eye(2))); + set(gca,'ColorOrderIndex',1); + plot(real(cl_poles), imag(cl_poles), '.'); + 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 g = gains + cl_poles = pole(feedback(Giff_s, (g/s)*eye(2))); + set(gca,'ColorOrderIndex',2); + plot(real(cl_poles), imag(cl_poles), '.'); + 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 g = gains + set(gca,'ColorOrderIndex',3); + cl_poles = pole(feedback(Giff_l, (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.'); + end + hold off; + axis square; + xlim([-0.04, 0.06]); ylim([0, 0.1]); + + xlabel('Real Part'); ylabel('Imaginary Part'); #+end_src -** Optimal value of $k_p$ +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/root_locus_iff_kp.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:root_locus_iff_kp +#+caption: Root Locus +#+RESULTS: +[[file:figs/root_locus_iff_kp.png]] + +** Effect of $k_p$ on the attainable damping +However, having large values of $k_p$ may: +- decrease the actuator force authority +- decrease the attainable damping + +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 = [0, 0.5, 1, 2, 10]*m*W^2; + kps = [1, 5, 10, 50]*m*W^2; cp = 0.01; #+end_src -#+begin_src matlab :exports none +It is shown that large values of $k_p$ decreases the attainable damping. + +#+begin_src matlab :exports code figure; gains = logspace(-2, 4, 100); @@ -1073,24 +1332,26 @@ However, having large values of $k_p$ may: end hold off; axis square; - xlim([-2, 0.5]); ylim([0, 2.5]); + xlim([-1.2, 0.2]); ylim([0, 1.4]); xlabel('Real Part'); ylabel('Imaginary Part'); legend('location', 'northwest'); #+end_src -To have unconditional stability: -\begin{equation} - k_{p} > m \Omega^2 -\end{equation} +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/root_locus_iff_kps.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src -But if $k_p$ is too late, the attainable damping is decreasing and this may as well limit the actuator stroke/force. +#+name: fig:root_locus_iff_kps +#+caption: +#+RESULTS: +[[file:figs/root_locus_iff_kps.png]] ** Optimal Gain -Let's take $k_p = 2 m \Omega^2$ and find the optimal IFF control 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 = 2*m*W; + kp = 5*m*W^2; cp = 0.01; Giff = linearize(mdl, io, 0); @@ -1109,12 +1370,12 @@ Let's take $k_p = 2 m \Omega^2$ and find the optimal IFF control gain. if min(zeta) > opt_zeta && all(zeta > 0) opt_zeta = min(zeta); - opt_gain = min(gains(g_i)); + opt_gain = min(g); end end #+end_src -#+begin_src matlab +#+begin_src matlab :exports code figure; gains = logspace(-2, 4, 100); @@ -1130,47 +1391,24 @@ Let's take $k_p = 2 m \Omega^2$ and find the optimal IFF control gain. clpoles = pole(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, 0.05]); ylim([0, 1.25]); + xlim([-1.2, 0.2]); ylim([0, 1.4]); xlabel('Real Part'); ylabel('Imaginary Part'); #+end_src -#+begin_src matlab :exports none - Kiff_opt = (opt_gain(opt_i)/s)*eye(2); - Giff_cl = feedback(Giff, Kiff_opt); +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'normal'); #+end_src -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - figure; - - ax1 = subplot(2, 1, 1); - hold on; - plot(freqs, abs(squeeze(freqresp(Giff(1,1), freqs)))) - plot(freqs, abs(squeeze(freqresp(Giff_cl(1,1), freqs)))) - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); - - ax2 = subplot(2, 1, 2); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))), ... - 'DisplayName', 'Open Loop') - plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_cl(1,1), freqs))), ... - 'DisplayName', 'Closed Loop') - 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)]); - - legend('location', 'southwest'); -#+end_src +#+name: fig:root_locus_opt_gain_iff_kp +#+caption: +#+RESULTS: +[[file:figs/root_locus_opt_gain_iff_kp.png]] * Direct Velocity Feedback <> @@ -1210,34 +1448,33 @@ The sensed relative velocity are equal to: ** Plant Parameters Let's define initial values for the model. #+begin_src matlab - k = 1; % [N/m] - m = 1; % [kg] - c = 0.05; % [N/(m/s)] + k = 1; % Actuator Stiffness [N/m] + c = 0.05; % Actuator Damping [N/(m/s)] + m = 1; % Payload mass [kg] +#+end_src +#+begin_src matlab xi = c/(2*sqrt(k*m)); w0 = sqrt(k/m); % [rad/s] #+end_src -** Plant - Bode Plot -The controllers are set to zero. -#+begin_src matlab - Kiff = tf(zeros(2)); - Kdvf = tf(zeros(2)); -#+end_src - -No parallel stiffness and damper is used. -#+begin_src matlab +#+begin_src matlab :exports code kp = 0; % [N/m] cp = 0; % [N/(m/s)] #+end_src +** Plant - Bode Plot The rotating speed is set to $\Omega = 0.1 \omega_0$. #+begin_src matlab W = 0.1*w0; #+end_src -The DVF plant is identified from the Simscape model and compared with the analytical one. +#+begin_src matlab :exports code + Kiff = tf(zeros(2)); + Kdvf = tf(zeros(2)); +#+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 mdl = 'rotating_frame'; @@ -1256,13 +1493,20 @@ The DVF plant is identified from the Simscape model and compared with the analyt 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) * ... [(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)]; + + Gdvf_th.InputName = {'Fu', 'Fv'}; + Gdvf_th.OutputName = {'vu', 'vv'}; #+end_src -#+begin_src matlab +The two are compared in Figure [[fig:plant_iff_comp_simscape_analytical]] and found to perfectly match. + +#+begin_src matlab :exports code freqs = logspace(-1, 1, 1000); figure; @@ -1310,17 +1554,32 @@ The DVF plant is identified from the Simscape model and compared with the analyt linkaxes([ax1,ax2],'y'); #+end_src -** Root Locus -The controller is a pure gain:: -\begin{equation} - K_{\text{DVF}}(s) = g -\end{equation} - -#+begin_src matlab - Ws = [0, 0.1, 0.3, 0.8, 1.1]; +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/plant_dvf_comp_simscape_analytical.pdf', 'width', 'full', 'height', 'full'); #+end_src +#+name: fig:plant_dvf_comp_simscape_analytical +#+caption: Comparison of the transfer functions from $[F_u, F_v]$ to $[v_u, v_v]$ between the Simscape model and the analytical one +#+RESULTS: +[[file:figs/plant_dvf_comp_simscape_analytical.png]] + +** Root Locus +The Decentralized Direct Velocity Feedback controller consist of a pure gain on the diagonal: +\begin{equation} + K_{\text{DVF}}(s) = g \begin{bmatrix} + 1 & 0 \\ + 0 & 1 +\end{bmatrix} +\end{equation} + +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] +#+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 code gains = logspace(-2, 1, 100); figure; @@ -1356,10 +1615,20 @@ The controller is a pure gain:: legend('location', 'northwest'); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/root_locus_dvf.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:root_locus_dvf +#+caption: Root Locus for the Decentralized Direct Velocity Feedback controller. Several rotating speed are shown. +#+RESULTS: +[[file:figs/root_locus_dvf.png]] + * Comparison <> ** Introduction :ignore: + ** Matlab Init :noexport:ignore: #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) <> @@ -1380,31 +1649,42 @@ The controller is a pure gain:: ** Plant Parameters Let's define initial values for the model. #+begin_src matlab - k = 1; % [N/m] - m = 1; % [kg] - c = 0.05; % [N/(m/s)] + k = 1; % Actuator Stiffness [N/m] + c = 0.05; % Actuator Damping [N/(m/s)] + m = 1; % Payload mass [kg] +#+end_src +#+begin_src matlab xi = c/(2*sqrt(k*m)); w0 = sqrt(k/m); % [rad/s] #+end_src -The rotation speed is set to $\Omega = 0.1 \omega_0$. -#+begin_src matlab - W = 0.1*w0; % [rad/s] +#+begin_src matlab :exports code + kp = 0; % [N/m] + cp = 0; % [N/(m/s)] #+end_src -#+begin_src matlab +#+begin_src matlab :exports code Kiff = tf(zeros(2)); Kdvf = tf(zeros(2)); #+end_src -** Root Locus -*** Pseudo Integrator IFF +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 code kp = 0; cp = 0; #+end_src +#+begin_src matlab + wi = 0.1*w0; +#+end_src + #+begin_src matlab %% Name of the Simulink File mdl = 'rotating_frame'; @@ -1423,9 +1703,9 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. Giff.OutputName = {'Fmu', 'Fmv'}; #+end_src -*** IFF With parallel Stiffness +*** IFF With parallel Stiffness :ignore: #+begin_src matlab - kp = 2*m*W^2; + kp = 5*m*W^2; cp = 0.01; #+end_src @@ -1447,8 +1727,8 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. Giff_kp.OutputName = {'Fmu', 'Fmv'}; #+end_src -*** DVF -#+begin_src matlab +*** DVF :ignore: +#+begin_src matlab :exports code kp = 0; cp = 0; #+end_src @@ -1471,12 +1751,8 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. Gdvf.OutputName = {'Vu', 'Vv'}; #+end_src -*** Root Locus -#+begin_src matlab - wi = 0.1*w0; -#+end_src - -#+begin_src matlab :exports none +*** Root Locus :ignore: +#+begin_src matlab :exports code figure; gains = logspace(-2, 2, 100); @@ -1489,7 +1765,7 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', ... 'HandleVisibility', 'off'); for g = gains - Kiff = (g/(1 + s/wi))*eye(2); + Kiff = (g/(wi + s))*eye(2); cl_poles = pole(feedback(Giff, Kiff)); set(gca,'ColorOrderIndex',1); plot(real(cl_poles), imag(cl_poles), '.', ... @@ -1516,7 +1792,7 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. set(gca,'ColorOrderIndex',3); plot(real(tzero(Gdvf)), imag(tzero(Gdvf)), 'o', ... 'HandleVisibility', 'off'); - for g_i = gains + for g = gains Kdvf = g*eye(2); cl_poles = pole(feedback(Gdvf, Kdvf)); set(gca,'ColorOrderIndex',3); @@ -1531,29 +1807,38 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$. legend('location', 'northwest'); #+end_src -** Controllers - Optimal Gains -Estimate the controller gain that yields good damping in all cases. +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/comp_root_locus.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src -Pseudo integrator IFF: -#+begin_src matlab :exports none - gains = logspace(-2, 4, 100); +#+name: fig:comp_root_locus +#+caption: +#+RESULTS: +[[file:figs/comp_root_locus.png]] + +** 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. + +#+begin_src matlab :exports code + %% IFF with pseudo integrators + gains = linspace(0, (w0^2/W^2 - 1)*wi, 100); opt_zeta_iff = 0; opt_gain_iff = 0; for g = gains - Kiff = (g/(1+s/wi))*eye(2); + Kiff = (g/(wi+s))*eye(2); [w, zeta] = damp(minreal(feedback(Giff, Kiff))); if min(zeta) > opt_zeta_iff && all(zeta > 0) opt_zeta_iff = min(zeta); - opt_gain_iff = min(gains(g_i)); + opt_gain_iff = g; end end #+end_src -Parallel Stiffness -#+begin_src matlab :exports none +#+begin_src matlab :exports code + %% IFF with Parallel Stiffness gains = logspace(-2, 4, 100); opt_zeta_kp = 0; opt_gain_kp = 0; @@ -1565,14 +1850,14 @@ Parallel Stiffness if min(zeta) > opt_zeta_kp && all(zeta > 0) opt_zeta_kp = min(zeta); - opt_gain_kp = min(gains(g_i)); + opt_gain_kp = g; end end #+end_src -DVF: -#+begin_src matlab :exports none - gains = logspace(0, 4, 100); +#+begin_src matlab :exports code + %% Direct Velocity Feedback + gains = logspace(0, 2, 100); opt_zeta_dvf = 0; opt_gain_dvf = 0; @@ -1583,23 +1868,31 @@ DVF: if min(zeta) > opt_zeta_dvf && all(zeta > 0) && min(zeta) < 0.85 opt_zeta_dvf = min(zeta); - opt_gain_dvf = min(gains(g_i)); + opt_gain_dvf = g; end end #+end_src -#+begin_src matlab - opt_zeta_iff, opt_zeta_kp, opt_zeta_dvf +The obtained damping ratio and control are shown below. + +#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*) + data2orgtable([opt_zeta_iff, opt_zeta_kp, opt_zeta_dvf; opt_gain_iff, opt_gain_kp, opt_gain_dvf]', {'Modified IFF', 'IFF with $k_p$', 'DVF'}, {'Obtained $\xi$', 'Control Gain'}, ' %.2f '); #+end_src +#+RESULTS: +| | Obtained $\xi$ | Control Gain | +|----------------+----------------+--------------| +| Modified IFF | 0.83 | 2.0 | +| IFF with $k_p$ | 0.84 | 2.01 | +| DVF | 0.85 | 1.67 | + ** Transmissibility -*** Open Loop -#+begin_src matlab +<> +*** Open Loop :ignore: +#+begin_src matlab :exports code Kdvf = tf(zeros(2)); Kiff = tf(zeros(2)); -#+end_src -#+begin_src matlab kp = 0; cp = 0; #+end_src @@ -1622,15 +1915,16 @@ DVF: Tol.OutputName = {'Dx', 'Dy'}; #+end_src -*** Pseudo Integrator IFF -#+begin_src matlab +*** Pseudo Integrator IFF :ignore: +#+begin_src matlab :exports code + kp = 0; + cp = 0; + Kdvf = tf(zeros(2)); - Kiff = opt_gain_iff/(1 + s/wi)*tf(eye(2)); #+end_src #+begin_src matlab - kp = 0; - cp = 0; + Kiff = opt_gain_iff/(wi + s)*tf(eye(2)); #+end_src #+begin_src matlab @@ -1651,17 +1945,20 @@ DVF: Tiff.OutputName = {'Dx', 'Dy'}; #+end_src -*** IFF With parallel Stiffness +*** IFF With parallel Stiffness :ignore: #+begin_src matlab - kp = 2*m*W^2; + kp = 5*m*W^2; cp = 0.01; #+end_src #+begin_src matlab - Kdvf = tf(zeros(2)); Kiff = opt_gain_kp/s*tf(eye(2)); #+end_src +#+begin_src matlab :exports code + Kdvf = tf(zeros(2)); +#+end_src + #+begin_src matlab %% Name of the Simulink File mdl = 'rotating_frame'; @@ -1680,15 +1977,16 @@ DVF: Tiff_kp.OutputName = {'Dx', 'Dy'}; #+end_src -*** DVF -#+begin_src matlab +*** DVF :ignore: +#+begin_src matlab :exports code kp = 0; cp = 0; + + Kiff = tf(zeros(2)); #+end_src #+begin_src matlab Kdvf = opt_gain_kp*tf(eye(2)); - Kiff = tf(zeros(2)); #+end_src #+begin_src matlab @@ -1709,8 +2007,8 @@ DVF: Tdvf.OutputName = {'Dx', 'Dy'}; #+end_src -*** Transmissibility -#+begin_src matlab +*** Transmissibility :ignore: +#+begin_src matlab :exports code freqs = logspace(-2, 1, 1000); figure; @@ -1725,12 +2023,30 @@ DVF: 'DisplayName', 'IFF Pseudo int') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - ylabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]'); + xlabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]'); legend('location', 'northwest'); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/comp_transmissibility.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:comp_transmissibility +#+caption: +#+RESULTS: +[[file:figs/comp_transmissibility.png]] + ** Compliance -*** Open Loop +<> +*** Open Loop :ignore: +#+begin_src matlab :exports code + Kdvf = tf(zeros(2)); + Kiff = tf(zeros(2)); + + kp = 0; + cp = 0; +#+end_src + #+begin_src matlab %% Name of the Simulink File mdl = 'rotating_frame'; @@ -1741,16 +2057,6 @@ DVF: io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1; #+end_src -#+begin_src matlab - Kdvf = tf(zeros(2)); - Kiff = tf(zeros(2)); -#+end_src - -#+begin_src matlab - kp = 0; - cp = 0; -#+end_src - #+begin_src matlab Col = linearize(mdl, io, 0); @@ -1759,15 +2065,16 @@ DVF: Col.OutputName = {'Dx', 'Dy'}; #+end_src -*** Pseudo Integrator IFF -#+begin_src matlab +*** Pseudo Integrator IFF :ignore: +#+begin_src matlab :exports code + kp = 0; + cp = 0; + Kdvf = tf(zeros(2)); - Kiff = opt_gain_iff/(1 + s/wi)*tf(eye(2)); #+end_src #+begin_src matlab - kp = 0; - cp = 0; + Kiff = opt_gain_iff/(wi + s)*tf(eye(2)); #+end_src #+begin_src matlab @@ -1778,17 +2085,20 @@ DVF: Ciff.OutputName = {'Dx', 'Dy'}; #+end_src -*** IFF With parallel Stiffness +*** IFF With parallel Stiffness :ignore: #+begin_src matlab - kp = 2*m*W^2; + kp = 5*m*W^2; cp = 0.01; #+end_src #+begin_src matlab - Kdvf = tf(zeros(2)); Kiff = opt_gain_kp/s*tf(eye(2)); #+end_src +#+begin_src matlab :exports code + Kdvf = tf(zeros(2)); +#+end_src + #+begin_src matlab Ciff_kp = linearize(mdl, io, 0); @@ -1797,15 +2107,16 @@ DVF: Ciff_kp.OutputName = {'Dx', 'Dy'}; #+end_src -*** DVF -#+begin_src matlab +*** DVF :ignore: +#+begin_src matlab :exports code kp = 0; cp = 0; + + Kiff = tf(zeros(2)); #+end_src #+begin_src matlab Kdvf = opt_gain_kp*tf(eye(2)); - Kiff = tf(zeros(2)); #+end_src #+begin_src matlab @@ -1816,8 +2127,8 @@ DVF: Cdvf.OutputName = {'Dx', 'Dy'}; #+end_src -*** Compliance -#+begin_src matlab +*** Compliance :ignore: +#+begin_src matlab :exports code freqs = logspace(-2, 1, 1000); figure; @@ -1832,10 +2143,19 @@ DVF: 'DisplayName', 'IFF Pseudo int') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - ylabel('Frequency [rad/s]'); ylabel('Compliance [m/N]'); - legend('location', 'northwest'); + xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]'); + legend('location', 'southwest'); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/comp_compliance.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:comp_compliance +#+caption: Comparison of the obtained Compliance +#+RESULTS: +[[file:figs/comp_compliance.png]] + * Notations <> @@ -1851,6 +2171,7 @@ DVF: | Relative Velocity | $\bm{v}, v_u, v_v$ | =v= =vu= =vv= | m/s | | Resonance freq. when $\Omega = 0$ | $\omega_0$ | =w0= | rad/s | | Rotation Speed | $\Omega = \dot{\theta}$ | =W= | rad/s | +| Low Pass Filter corner frequency | $\omega_i$ | =wi= | rad/s | | | Mathematical Notation | Matlab | Unit | |------------------+-----------------------+--------+---------|