Update Matlab code
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-07-09 jeu. 09:28 -->
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<!-- 2020-07-09 jeu. 09:34 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Active Damping of Rotating Platforms using Integral Force Feedback</title>
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<meta name="generator" content="Org mode" />
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@ -36,36 +36,51 @@ The results reveal that, despite their different implementations, both modified
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</p>
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</blockquote>
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<div id="outline-container-orgca2cb50" class="outline-2">
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<h2 id="orgca2cb50">Paper (<a href="paper/paper.pdf">link</a>)</h2>
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<div class="outline-text-2" id="text-orgca2cb50">
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<div id="outline-container-orgc57a3d5" class="outline-2">
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<h2 id="orgc57a3d5">Paper (<a href="paper/paper.pdf">link</a>)</h2>
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<div class="outline-text-2" id="text-orgc57a3d5">
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<p>
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The paper has been created using <a href="https://orgmode.org/">Org Mode</a> (generating <a href="https://www.latex-project.org/">LaTeX</a> code) under <a href="https://www.gnu.org/software/emacs/">Emacs</a>.
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</p>
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</div>
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</div>
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<div id="outline-container-org3d9741f" class="outline-2">
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<h2 id="org3d9741f">Matlab Scripts (<a href="matlab/index.html">link</a>)</h2>
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<div class="outline-text-2" id="text-org3d9741f">
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<div id="outline-container-org25ac8f5" class="outline-2">
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<h2 id="org25ac8f5">Matlab Scripts (<a href="matlab/index.html">link</a>)</h2>
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<div class="outline-text-2" id="text-org25ac8f5">
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<p>
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The Matlab scripts that permits to obtain all the results presented in the paper are accessible <a href="matlab/index.html">here</a>.
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</p>
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<div class="org-src-container">
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<pre class="src src-bibtex">@software{thomas_dehaeze_2020_3894343,
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author = {Thomas Dehaeze},
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title = {{tdehaeze/dehaeze20\_contr\_stewa\_platf: First
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Release}},
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month = jun,
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year = 2020,
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publisher = {Zenodo},
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version = {v0.2},
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doi = {10.5281/zenodo.3894343},
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url = {https://doi.org/10.5281/zenodo.3894343}
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}
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-orgda36c65" class="outline-2">
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<h2 id="orgda36c65">Figures (<a href="tikz/index.html">link</a>)</h2>
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<div class="outline-text-2" id="text-orgda36c65">
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<div id="outline-container-org3a8a65a" class="outline-2">
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<h2 id="org3a8a65a">Figures (<a href="tikz/index.html">link</a>)</h2>
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<div class="outline-text-2" id="text-org3a8a65a">
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<p>
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All the figures in the paper are generated using either <a href="https://sourceforge.net/projects/pgf/">TikZ</a> or <a href="https://inkscape.org/">Inkscape</a>. The code snippets that was used to generate the figures are accessible <a href="tikz/index.html">here</a>.
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</p>
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</div>
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</div>
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<div id="outline-container-org3a0adc3" class="outline-2">
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<h2 id="org3a0adc3">Cite this paper</h2>
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<div class="outline-text-2" id="text-org3a0adc3">
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<div id="outline-container-org4ae0126" class="outline-2">
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<h2 id="org4ae0126">Cite this paper</h2>
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<div class="outline-text-2" id="text-org4ae0126">
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<p>
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To cite this paper use the following bibtex code.
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</p>
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File diff suppressed because it is too large
Load Diff
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matlab/index.org
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matlab/index.org
@ -1,4 +1,4 @@
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#+TITLE: Matlab Computation
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#+TITLE: Active Damping of Rotating Platforms using Integral Force Feedback - Matlab Computation
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:DRAWER:
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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@ -24,13 +24,15 @@
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:END:
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* Introduction :ignore:
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This document gathers the Matlab code used to for the paper cite:dehaeze20_activ_dampin_rotat_platf_integ_force_feedb.
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- Section [[sec:system_description]]
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- Section [[sec:iff_pure_int]]
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- Section [[sec:iff_pseudo_int]]
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- Section [[sec:iff_parallel_stiffness]]
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- Section [[sec:comparison]]
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- Section [[sec:notations]]
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It is structured in several sections:
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- Section [[sec:system_description]]: presents a simple model of a rotating suspended platform that will be used throughout this study.
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- Section [[sec:iff_pure_int]]: explains how the unconditional stability of IFF is lost due to Gyroscopic effects induced by the rotation.
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- Section [[sec:iff_pseudo_int]]: suggests a simple modification of the control law such that damping can be added to the suspension modes in a robust way.
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- Section [[sec:iff_parallel_stiffness]]: proposes to add springs in parallel with the force sensors to regain the unconditional stability of IFF.
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- Section [[sec:comparison]]: compares both proposed modifications to the classical IFF in terms of damping authority and closed-loop system behavior.
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- Section [[sec:notations]]: contains the notations used for both the Matlab code and the paper
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* System Description and Analysis
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:PROPERTIES:
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@ -38,7 +40,6 @@
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:END:
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<<sec:system_description>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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@ -63,8 +64,6 @@ The system consists of one 2 degree of freedom translation stage on top of a spi
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The control inputs are the forces applied by the actuators of the translation stage ($F_u$ and $F_v$).
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As the translation stage is rotating around the Z axis due to the spindle, the forces are applied along $\vec{i}_u$ and $\vec{i}_v$.
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The measurement is either the $x-y$ displacement of the object located on top of the translation stage or the $u-v$ displacement of the sample with respect to a fixed reference frame.
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** Equations
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Based on the Figure [[fig:system]], the equations of motions are:
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#+begin_important
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@ -90,9 +89,6 @@ With:
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\end{align}
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#+end_important
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Explain Coriolis and Centrifugal Forces (negative Stiffness)
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=> First write the equations in terms of $k$, $m$ and $c$ and explain the terms.
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** Numerical Values
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Let's define initial values for the model.
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#+begin_src matlab
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@ -207,7 +203,10 @@ It is shown in Figure [[fig:campbell_diagram]], and one can see that the system
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#+end_src
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** Simscape Model
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Define the rotating speed for the Simscape Model.
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In order to validate all the equations of motion, a Simscape model of the same system has been developed.
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The dynamics of the system can be identified from the Simscape model and compare with the analytical model.
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The rotating speed for the Simscape Model is defined.
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#+begin_src matlab
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W = 0.1; % Rotation Speed [rad/s]
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#+end_src
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@ -404,8 +403,13 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]].
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<<sec:iff_pure_int>>
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** Introduction :ignore:
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- Diagram with the controller
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- Basic idea of IFF
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Force sensors are added in series with the two actuators (Figure [[fig:system_iff]]).
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Two identical controllers $K_F$ are used to feedback each of the sensed force to its associated actuator.
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#+name: fig:system_iff
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#+caption: System with added Force Sensor in series with the actuators
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[[file:figs-paper/system_iff.png]]
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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@ -421,12 +425,6 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]].
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addpath('./src/');
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#+end_src
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** Schematic
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#+name: fig:system_iff
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#+caption: Figure caption
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[[file:figs-paper/system_iff.pdf]]
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** Plant Parameters
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Let's define initial values for the model.
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#+begin_src matlab
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@ -732,9 +730,6 @@ It is shown that for non-null rotating speed, one pole is bound to the right-hal
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:END:
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<<sec:iff_pseudo_int>>
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** Introduction :ignore:
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- Classical modification of the IFF
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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@ -1118,7 +1113,6 @@ The gain at which the system becomes unstable is
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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.
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There must be an optimum for $\omega_i$.
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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]]).
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@ -1180,7 +1174,6 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode
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:END:
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<<sec:iff_parallel_stiffness>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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@ -1196,11 +1189,17 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode
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#+end_src
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** Schematic
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In this section additional springs in parallel with the force sensors are added to counteract the negative stiffness induced by the rotation.
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#+name: fig:system_parallel_springs
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#+caption: Figure caption
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#+caption: Studied system with additional springs in parallel with the actuators and force sensors
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[[file:figs-paper/system_parallel_springs.png]]
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In order to keep the overall stiffness $k = k_a + k_p$ constant, a scalar parameter $\alpha$ ($0 \le \alpha < 1$) is defined to describe the fraction of the total stiffness in parallel with the actuator and force sensor
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\begin{equation}
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k_p = \alpha k, \quad k_a = (1 - \alpha) k
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\end{equation}
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** Equations
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#+begin_important
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\begin{equation}
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@ -1220,40 +1219,16 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode
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\end{equation}
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With:
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\begin{align}
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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 \\
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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 \\
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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)
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G_{kp} &= \left( \frac{s^2}{{\omega_0}^2} + 2\xi \frac{s}{{\omega_0}^2} + 1 - \frac{\Omega^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} \right)^2 \\
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G_{kz} &= \left( \frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2} + \alpha \right) \left( \frac{s^2}{{\omega_0}^2} + 2\xi \frac{s}{{\omega_0}^2} + 1 - \frac{\Omega^2}{{\omega_0}^2} \right) + \left( 2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} \right)^2 \\
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G_{kc} &= \left( 2 \xi \frac{s}{\omega_0} + 1 - \alpha \right) \left( 2 \frac{\Omega}{\omega_0}\frac{s}{\omega_0} \right)
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\end{align}
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where:
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- $\omega_0^\prime = \frac{k + k_p}{m}$
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- $\xi^\prime = \frac{c}{2 \sqrt{(k + k_p) m}}$
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#+end_important
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If we compare $G_{kz}$ and $G_{fz}$, we see that the spring in parallel adds a term $\frac{k_p}{k + k_p}$.
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If we compare $G_{kz}$ and $G_{fz}$, we see that the spring in parallel adds a term $\alpha$.
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In order to have two complex conjugate zeros (instead of real zeros):
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\begin{equation}
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\frac{k_p}{k + k_p} - \frac{\Omega^2}{{\omega_0^\prime}^2} > 0
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\end{equation}
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Which is equivalent to
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\begin{equation}
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k_p > m \Omega^2
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\end{equation}
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** Physical Explanation
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- Negative stiffness induced by gyroscopic effects
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- Zeros of the open-loop <=> Poles of the subsystem with the force sensors removes
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- As the zeros are the poles of the closed loop system for high gains, we want them to be in the left-half plane
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- Thus we want the zeros to be in the left half plant and thus the system with the force sensors stable
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- 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
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The negative stiffness induced by the rotation is:
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\begin{equation}
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k_{n} = - m \Omega^2
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\end{equation}
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And thus, the stiffness in parallel should be such that:
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\begin{equation}
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k_{p} > m \Omega^2
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\alpha > \frac{\Omega^2}{{\omega_0}^2} \quad \Leftrightarrow \quad k_p > m \Omega^2
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\end{equation}
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** Plant Parameters
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@ -1684,9 +1659,7 @@ Thus, decentralized IFF controller with pure integrators can be used if:
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#+end_src
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** Effect of $k_p$ on the attainable damping
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However, having large values of $k_p$ may:
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- decrease the actuator force authority
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- decrease the attainable damping
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However, having large values of $k_p$ may decrease the attainable damping.
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To study the second point, Root Locus plots for the following values of $k_p$ are shown in Figure [[fig:root_locus_iff_kps]].
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#+begin_src matlab
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@ -1694,7 +1667,6 @@ To study the second point, Root Locus plots for the following values of $k_p$ ar
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#+end_src
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It is shown that large values of $k_p$ decreases the attainable damping.
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#+begin_src matlab :exports none
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figure;
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@ -1842,114 +1814,15 @@ It is shown that large values of $k_p$ decreases the attainable damping.
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#+RESULTS:
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[[file:figs/opt_damp_alpha.png]]
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** TODO Optimal Gain
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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.
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#+begin_src matlab
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kp = 5*m*W^2;
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k = 1 - kp;
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w0p = sqrt((k + kp)/m);
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xip = c/(2*sqrt((k+kp)*m));
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Giff = 1/( (s^2/w0p^2 + 2*xip*s/w0p + 1 - W^2/w0p^2)^2 + (2*(s/w0p)*(W/w0p))^2 ) * [ ...
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(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));
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(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 ];
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#+end_src
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#+begin_src matlab
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opt_xi = 0;
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opt_gain = 0;
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gains = logspace(-2, 4, 1000);
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for g = gains
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Kiff = (g/s)*eye(2);
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[w, xi] = damp(minreal(feedback(Giff, Kiff)));
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if min(xi) > opt_xi && all(xi > 0)
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opt_xi = min(xi);
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opt_gain = min(g);
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end
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end
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#+end_src
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#+begin_src matlab :exports none
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figure;
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gains = logspace(-2, 4, 1000);
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hold on;
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plot(real(pole(Giff)), imag(pole(Giff)), 'kx');
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plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko');
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for g = gains
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clpoles = pole(minreal(feedback(Giff, (g/s)*eye(2))));
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plot(real(clpoles), imag(clpoles), 'k.');
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end
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% Optimal Gain
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clpoles = pole(minreal(feedback(Giff, (opt_gain/s)*eye(2))));
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set(gca,'ColorOrderIndex',1);
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plot(real(clpoles), imag(clpoles), 'x');
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for clpole = clpoles'
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set(gca,'ColorOrderIndex',1);
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plot([0, real(clpole)], [0, imag(clpole)], '-', 'LineWidth', 1);
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end
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hold off;
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axis square;
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xlim([-1.2, 0.2]); ylim([0, 1.4]);
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xlabel('Real Part'); ylabel('Imaginary Part');
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'normal');
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#+end_src
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#+name: fig:root_locus_opt_gain_iff_kp
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#+caption: Root Locus for $k_p = 5 m \Omega^2$ and the poles corresponding to the identified optimal gain
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#+RESULTS:
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[[file:figs/root_locus_opt_gain_iff_kp.png]]
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#+begin_src matlab :exports none :tangle no
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gains = logspace(-2, 4, 1000);
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poles_iff = rootLocusPolesSorted(Giff, 1/s*eye(2), gains, 'd_max', 1e-4);
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|
||||
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-paper/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
|
||||
#+end_src
|
||||
|
||||
* Comparison
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/s6_act_damp_comparison.m
|
||||
:header-args:matlab+: :tangle matlab/s5_act_damp_comparison.m
|
||||
:END:
|
||||
<<sec:comparison>>
|
||||
|
||||
** Introduction :ignore:
|
||||
Two modifications to adapt the IFF control strategy to rotating platforms have been proposed.
|
||||
These two methods are now compared in terms of added damping, closed-loop compliance and transmissibility.
|
||||
|
||||
** Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
@ -2315,262 +2188,6 @@ Critical Damping corresponds to to $\xi = 1$, and thus:
|
||||
exportFig('figs-paper/comp_compliance.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
|
||||
#+end_src
|
||||
|
||||
** DC Compliance
|
||||
*** Pseudo Integrator IFF :ignore:
|
||||
#+begin_src matlab :exports none
|
||||
k = 1;
|
||||
m = 1;
|
||||
w0 = sqrt(k/m);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
Gwi = tf(zeros(4,4));
|
||||
Gwi.InputName = {'Fx', 'Fy', 'Fu', 'Fv'};
|
||||
Gwi.OutputName = {'dx', 'dy', 'fu', 'fv'};
|
||||
|
||||
Gp = ((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2;
|
||||
|
||||
Gwi('dx', 'Fu') = (1/k)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))/Gp;
|
||||
Gwi('dy', 'Fv') = (1/k)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))/Gp;
|
||||
|
||||
Gwi('dx', 'Fx') = (1/k)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))/Gp;
|
||||
Gwi('dy', 'Fy') = (1/k)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))/Gp;
|
||||
|
||||
Gwi('dx', 'Fv') = (1/k)*(2*W*s/(w0^2))/Gp;
|
||||
Gwi('dy', 'Fu') = -(1/k)*(2*W*s/(w0^2))/Gp;
|
||||
|
||||
Gwi('dx', 'Fy') = (1/k)*(2*W*s/(w0^2))/Gp;
|
||||
Gwi('dy', 'Fx') = -(1/k)*(2*W*s/(w0^2))/Gp;
|
||||
|
||||
Gwi('fu', 'Fu') = ((s^2/w0^2 - W^2/w0^2)*(s^2/w0^2 + 2*xi*s/w0 + 1 - W^2/w0^2) + (2*(s/w0)*(W/w0))^2)/Gp;
|
||||
Gwi('fv', 'Fv') = ((s^2/w0^2 - W^2/w0^2)*(s^2/w0^2 + 2*xi*s/w0 + 1 - W^2/w0^2) + (2*(s/w0)*(W/w0))^2)/Gp;
|
||||
|
||||
Gwi('fu', 'Fv') = -(2*xi*s/w0 + 1)*(2*(s/w0)*(W/w0))/Gp;
|
||||
Gwi('fv', 'Fu') = (2*xi*s/w0 + 1)*(2*(s/w0)*(W/w0))/Gp;
|
||||
|
||||
Gwi('fu', 'Fx') = -(c*s + k)*(1/k)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))/Gp;
|
||||
Gwi('fv', 'Fy') = -(c*s + k)*(1/k)*((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))/Gp;
|
||||
|
||||
Gwi('fu', 'Fy') = -(c*s + k)*(1/k)*(2*W*s/(w0^2))/Gp;
|
||||
Gwi('fv', 'Fx') = (c*s + k)*(1/k)*(2*W*s/(w0^2))/Gp;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
wis = logspace(-2, 1, 100)*w0; % [rad/s]
|
||||
|
||||
opt_xi_wi = zeros(1, length(wis)); % Optimal simultaneous damping
|
||||
opt_gain_wi = zeros(1, length(wis)); % Corresponding optimal gain
|
||||
C_dc_gain_wi = zeros(1, length(wis)); % Compliance DC value
|
||||
|
||||
for wi_i = 1:length(wis)
|
||||
wi = wis(wi_i);
|
||||
Kiff = 1/(s + wi)*eye(2);
|
||||
|
||||
fun = @(g)computeSimultaneousDamping(g, Gwi({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff);
|
||||
|
||||
[g_opt, xi_opt] = fminsearch(fun, 0.5*wi*((w0/W)^2 - 1));
|
||||
opt_xi_wi(wi_i) = 1/xi_opt;
|
||||
opt_gain_wi(wi_i) = g_opt;
|
||||
|
||||
G_dc_gain = dcgain(lft(Gwi, -g_opt/(s + wi)*eye(2), 2, 2));
|
||||
C_dc_gain_wi(wi_i) = G_dc_gain(1,1);
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** IFF With parallel Stiffness :ignore:
|
||||
#+begin_src matlab
|
||||
alphas = logspace(-2, 0, 100);
|
||||
|
||||
opt_xi_kp = zeros(1, length(alphas)); % Optimal simultaneous damping
|
||||
opt_gain_kp = zeros(1, length(alphas)); % Corresponding optimal gain
|
||||
C_dc_gain_kp = zeros(1, length(alphas)); % DC gain of the compliance
|
||||
|
||||
Kiff = 1/s*eye(2);
|
||||
|
||||
for alpha_i = 1:length(alphas)
|
||||
kp = alphas(alpha_i);
|
||||
k = 1 - alphas(alpha_i);
|
||||
|
||||
w0p = sqrt((k + kp)/m);
|
||||
xip = c/(2*sqrt((k+kp)*m));
|
||||
|
||||
Gkp = tf(zeros(4,4));
|
||||
Gkp.InputName = {'Fx', 'Fy', 'Fu', 'Fv'};
|
||||
Gkp.OutputName = {'dx', 'dy', 'fu', 'fv'};
|
||||
|
||||
Gp = ((s^2)/(w0p^2) + 2*xip*s/w0p + 1 - (W^2)/(w0p^2))^2 + (2*W*s/(w0p^2))^2;
|
||||
|
||||
Gkp('dx', 'Fu') = (1/(k + kp))*((s^2)/(w0p^2) + 2*xip*s/w0p + 1 - (W^2)/(w0p^2))/Gp;
|
||||
Gkp('dy', 'Fv') = (1/(k + kp))*((s^2)/(w0p^2) + 2*xip*s/w0p + 1 - (W^2)/(w0p^2))/Gp;
|
||||
|
||||
Gkp('dx', 'Fx') = (1/(k + kp))*((s^2)/(w0p^2) + 2*xip*s/w0p + 1 - (W^2)/(w0p^2))/Gp;
|
||||
Gkp('dy', 'Fy') = (1/(k + kp))*((s^2)/(w0p^2) + 2*xip*s/w0p + 1 - (W^2)/(w0p^2))/Gp;
|
||||
|
||||
Gkp('dx', 'Fv') = (1/(k + kp))*(2*W*s/(w0p^2))/Gp;
|
||||
Gkp('dy', 'Fu') = -(1/(k + kp))*(2*W*s/(w0p^2))/Gp;
|
||||
|
||||
Gkp('dx', 'Fy') = (1/(k + kp))*(2*W*s/(w0p^2))/Gp;
|
||||
Gkp('dy', 'Fx') = -(1/(k + kp))*(2*W*s/(w0p^2))/Gp;
|
||||
|
||||
Gkp('fu', 'Fu') = ((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)/Gp;
|
||||
Gkp('fv', 'Fv') = ((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)/Gp;
|
||||
|
||||
Gkp('fu', 'Fv') = -(2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p))/Gp;
|
||||
Gkp('fv', 'Fu') = (2*xip*s/w0p + k/(k + kp))*(2*(s/w0p)*(W/w0p))/Gp;
|
||||
|
||||
Gkp('fu', 'Fx') = -(c*s + k)*(1/(k + kp))*((s^2)/(w0p^2) + 2*xip*s/w0p + 1 - (W^2)/(w0p^2))/Gp;
|
||||
Gkp('fv', 'Fy') = -(c*s + k)*(1/(k + kp))*((s^2)/(w0p^2) + 2*xip*s/w0p + 1 - (W^2)/(w0p^2))/Gp;
|
||||
|
||||
Gkp('fu', 'Fy') = -(c*s + k)*(1/(k + kp))*(2*W*s/(w0p^2))/Gp;
|
||||
Gkp('fv', 'Fx') = (c*s + k)*(1/(k + kp))*(2*W*s/(w0p^2))/Gp;
|
||||
|
||||
fun = @(g)computeSimultaneousDamping(g, Gkp({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff);
|
||||
|
||||
[g_opt, xi_opt] = fminsearch(fun, 2);
|
||||
opt_xi_kp(alpha_i) = 1/xi_opt;
|
||||
opt_gain_kp(alpha_i) = g_opt;
|
||||
|
||||
G_dc_gain = dcgain(lft(Gkp, -g_opt/s*eye(2), 2, 2));
|
||||
C_dc_gain_kp(alpha_i) = G_dc_gain(1,1);
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** Comparison :ignore:
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
yyaxis left
|
||||
plot(alphas, C_dc_gain_kp, '-', 'DisplayName', '$|T(0)|$');
|
||||
set(gca, 'YScale', 'log');
|
||||
ylim([0, 1e3]);
|
||||
ylabel('DC value of the Compliance');
|
||||
|
||||
yyaxis right
|
||||
hold on;
|
||||
plot(alphas, opt_xi_kp, '-', 'DisplayName', '$\xi_{opt}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,1]);
|
||||
ylabel('Optimal Damping Ratio');
|
||||
|
||||
xlabel('$\alpha$');
|
||||
set(gca, 'XScale', 'log');
|
||||
legend('location', 'northeast');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/compliance_dc_gain_wi.pdf', 'width', 'wide', 'height', 'normal');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:compliance_dc_gain_wi
|
||||
#+caption:
|
||||
#+RESULTS:
|
||||
[[file:figs/compliance_dc_gain_wi.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
yyaxis left
|
||||
plot(wis, abs(C_dc_gain_wi), '-', 'DisplayName', '$|T(0)|$');
|
||||
set(gca, 'YScale', 'log');
|
||||
ylim([0, 1e3]);
|
||||
ylabel('DC value of the Compliance');
|
||||
|
||||
yyaxis right
|
||||
hold on;
|
||||
plot(wis, opt_xi_wi, '-', 'DisplayName', '$\xi_{opt}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,1]);
|
||||
ylabel('Optimal Damping Ratio');
|
||||
|
||||
xlabel('$\omega_i$');
|
||||
set(gca, 'XScale', 'log');
|
||||
legend('location', 'northeast');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/compliance_dc_gain_kp.pdf', 'width', 'wide', 'height', 'normal');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:compliance_dc_gain_kp
|
||||
#+caption:
|
||||
#+RESULTS:
|
||||
[[file:figs/compliance_dc_gain_kp.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(opt_xi_wi, C_dc_gain_wi, '-', 'DisplayName', '$\omega_i$');
|
||||
plot(opt_xi_kp, C_dc_gain_kp, '-', 'DisplayName', '$k_p$');
|
||||
hold off
|
||||
set(gca, 'YScale', 'log');
|
||||
ylim([0, 1e3]);
|
||||
ylabel('DC value of the Compliance');
|
||||
xlabel('Optimal Damping Ratio');
|
||||
legend('location', 'northwest');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/opt_damp_vs_dc_comp.pdf', 'width', 'wide', 'height', 'normal');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:opt_damp_vs_dc_comp
|
||||
#+caption:
|
||||
#+RESULTS:
|
||||
[[file:figs/opt_damp_vs_dc_comp.png]]
|
||||
|
||||
*** Comparison :ignore:
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
yyaxis left
|
||||
plot(wis, opt_xi_wi, '-', 'DisplayName', '$\xi_{cl}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,1]);
|
||||
ylabel('Attainable Damping Ratio $\xi$');
|
||||
|
||||
yyaxis right
|
||||
hold on;
|
||||
plot(wis, opt_gain_wi, '-', '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 :exports none
|
||||
figure;
|
||||
yyaxis left
|
||||
plot(alphas, opt_xi_kp, '-', 'DisplayName', '$\xi_{cl}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,1]);
|
||||
ylabel('Attainable Damping Ratio $\xi$');
|
||||
|
||||
yyaxis right
|
||||
hold on;
|
||||
plot(alphas, opt_gain_kp, '-', 'DisplayName', '$g_{opt}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,2.5]);
|
||||
ylabel('Controller gain $g$');
|
||||
|
||||
xlabel('$\alpha$');
|
||||
set(gca, 'XScale', 'log');
|
||||
legend('location', 'northeast');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/mod_iff_damping_kp.pdf', 'width', 'normal', 'height', 'normal');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:mod_iff_damping_kp
|
||||
#+caption:
|
||||
#+RESULTS:
|
||||
[[file:figs/mod_iff_damping_kp.png]]
|
||||
|
||||
#+begin_src matlab :tangle no :exports none :results none
|
||||
exportFig('figs-paper/mod_iff_damping_kp.pdf', 'width', 'half', 'height', '650', 'png', false, 'pdf', false, 'svg', true);
|
||||
#+end_src
|
||||
|
||||
* Notations
|
||||
<<sec:notations>>
|
||||
|
||||
@ -2583,7 +2200,6 @@ exportFig('figs/opt_damp_vs_dc_comp.pdf', 'width', 'wide', 'height', 'normal');
|
||||
| Actuator Force | $\bm{F}, F_u, F_v$ | =F= =Fu= =Fv= | N |
|
||||
| Force Sensor signal | $\bm{f}, f_u, f_v$ | =f= =fu= =fv= | N |
|
||||
| Relative Displacement | $\bm{d}, d_u, d_v$ | =d= =du= =dv= | m |
|
||||
| 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 |
|
||||
@ -2594,13 +2210,6 @@ exportFig('figs/opt_damp_vs_dc_comp.pdf', 'width', 'wide', 'height', 'normal');
|
||||
| Complex number | $j$ | =j= | |
|
||||
| Frequency | $\omega$ | =w= | [rad/s] |
|
||||
|
||||
| | Mathematical Notation | Matlab | Unit |
|
||||
|----------------+------------------------------------------------+--------+---------|
|
||||
| IFF Plant | $\bm{G}_\text{IFF}(s) = \frac{\bm{f}}{\bm{F}}$ | =Giff= | N/N |
|
||||
| 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= | |
|
||||
|
||||
* Functions :noexport:
|
||||
** Sort Poles for the Root Locus
|
||||
:PROPERTIES:
|
||||
|
||||
@ -43,24 +43,25 @@ for p_i = 1:size(p_ws, 1)
|
||||
end
|
||||
plot(Ws, zeros(size(Ws)), 'k--')
|
||||
hold off;
|
||||
xlabel('Rotation Frequency [rad/s]'); ylabel('Real Part');
|
||||
xlabel('Rotational Speed [rad/s]'); ylabel('Real Part');
|
||||
|
||||
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-')
|
||||
plot(Ws, imag(p_ws(p_i, :)), 'k-')
|
||||
end
|
||||
hold off;
|
||||
xlabel('Rotation Frequency [rad/s]'); ylabel('Imaginary Part');
|
||||
xlabel('Rotational Speed [rad/s]'); ylabel('Imaginary Part');
|
||||
|
||||
% Simscape Model
|
||||
% Define the rotating speed for the Simscape Model.
|
||||
% In order to validate all the equations of motion, a Simscape model of the same system has been developed.
|
||||
% The dynamics of the system can be identified from the Simscape model and compare with the analytical model.
|
||||
|
||||
% The rotating speed for the Simscape Model is defined.
|
||||
|
||||
W = 0.1; % Rotation Speed [rad/s]
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
Kdvf = tf(zeros(2));
|
||||
|
||||
kp = 0; % Parallel Stiffness [N/m]
|
||||
cp = 0; % Parallel Damping [N/(m/s)]
|
||||
@ -206,7 +207,7 @@ 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))))
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{W_i}(2,1), freqs))))
|
||||
end
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
xlabel('Frequency [rad/s]'); ylabel('Phase [deg]');
|
||||
|
||||
@ -17,13 +17,12 @@ w0 = sqrt(k/m); % [rad/s]
|
||||
kp = 0; % [N/m]
|
||||
cp = 0; % [N/(m/s)]
|
||||
|
||||
% Simscape Model
|
||||
% Comparison of the Analytical Model and the Simscape Model
|
||||
% The rotation speed is set to $\Omega = 0.1 \omega_0$.
|
||||
|
||||
W = 0.1*w0; % [rad/s]
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
Kdvf = tf(zeros(2));
|
||||
|
||||
open('rotating_frame.slx');
|
||||
|
||||
@ -45,7 +44,8 @@ Giff = linearize(mdl, io, 0);
|
||||
Giff.InputName = {'Fu', 'Fv'};
|
||||
Giff.OutputName = {'fu', 'fv'};
|
||||
|
||||
% 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.
|
||||
|
||||
Giff_th = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2) * ...
|
||||
@ -56,7 +56,6 @@ Giff_th = 1/(((s^2)/(w0^2) + 2*xi*s/w0 + 1 - (W^2)/(w0^2))^2 + (2*W*s/(w0^2))^2)
|
||||
|
||||
% The two are compared in Figure [[fig:plant_iff_comp_simscape_analytical]] and found to perfectly match.
|
||||
|
||||
|
||||
freqs = logspace(-1, 1, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
@ -206,41 +206,36 @@ xlabel('Real Part'); ylabel('Imaginary Part');
|
||||
|
||||
% 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]]).
|
||||
|
||||
wis = logspace(-2, 1, 31)*w0; % [rad/s]
|
||||
|
||||
opt_zeta = zeros(1, length(wis)); % Optimal simultaneous damping
|
||||
wis = logspace(-2, 1, 100)*w0; % [rad/s]
|
||||
|
||||
opt_xi = 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);
|
||||
Kiff = 1/(s + wi)*eye(2);
|
||||
|
||||
for g = gains
|
||||
Kiff = (g/(wi+s))*eye(2);
|
||||
fun = @(g)computeSimultaneousDamping(g, Giff, Kiff);
|
||||
|
||||
[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
|
||||
[g_opt, xi_opt] = fminsearch(fun, 0.5*wi*((w0/W)^2 - 1));
|
||||
opt_xi(wi_i) = 1/xi_opt;
|
||||
opt_gain(wi_i) = g_opt;
|
||||
end
|
||||
|
||||
figure;
|
||||
yyaxis left
|
||||
plot(wis, opt_zeta, '-o', 'DisplayName', '$\xi_{cl}$');
|
||||
plot(wis, opt_xi, '-', 'DisplayName', '$\xi_{cl}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,1]);
|
||||
ylabel('Attainable Damping Ratio $\xi$');
|
||||
|
||||
yyaxis right
|
||||
hold on;
|
||||
plot(wis, opt_gain, '-x', 'DisplayName', '$g_{opt}$');
|
||||
plot(wis, opt_gain, '-', 'DisplayName', '$g_{opt}$');
|
||||
plot(wis, wis*((w0/W)^2 - 1), '--', 'DisplayName', '$g_{max}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,10]);
|
||||
|
||||
@ -1,61 +1,339 @@
|
||||
% Attainable Damping as a function of $k_p$
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
tic;
|
||||
alphas = logspace(-2, 0, 10);
|
||||
gains = linspace(0.5, 2.5, 100);
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
opt_zeta = zeros(1, length(alphas)); % Optimal simultaneous damping
|
||||
opt_gain = zeros(1, length(alphas)); % Corresponding optimal gain
|
||||
% Plant Parameters
|
||||
% Let's define initial values for the model.
|
||||
|
||||
for alpha_i = 1:length(alphas)
|
||||
kp = alphas(alpha_i);
|
||||
k = 1 - alphas(alpha_i);
|
||||
k = 1; % Actuator Stiffness [N/m]
|
||||
c = 0.05; % Actuator Damping [N/(m/s)]
|
||||
m = 1; % Payload mass [kg]
|
||||
|
||||
xi = c/(2*sqrt(k*m));
|
||||
w0 = sqrt(k/m); % [rad/s]
|
||||
|
||||
kp = 0; % [N/m]
|
||||
cp = 0; % [N/(m/s)]
|
||||
|
||||
% 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.
|
||||
|
||||
W = 0.1*w0; % [rad/s]
|
||||
|
||||
kp = 1.5*m*W^2;
|
||||
cp = 0;
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
|
||||
open('rotating_frame.slx');
|
||||
|
||||
%% 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'};
|
||||
|
||||
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'};
|
||||
|
||||
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');
|
||||
|
||||
% Effect of the parallel stiffness on the IFF plant
|
||||
% The rotation speed is set to $\Omega = 0.1 \omega_0$.
|
||||
|
||||
W = 0.1*w0; % [rad/s]
|
||||
|
||||
|
||||
|
||||
% 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 $k_p > m \Omega^2$
|
||||
|
||||
% 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.
|
||||
|
||||
|
||||
kp = 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];
|
||||
|
||||
kp = 0.5*m*W^2;
|
||||
k = 1 - kp;
|
||||
|
||||
w0p = sqrt((k + kp)/m);
|
||||
xip = c/(2*sqrt((k+kp)*m));
|
||||
|
||||
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];
|
||||
|
||||
kp = 1.5*m*W^2;
|
||||
k = 1 - kp;
|
||||
|
||||
w0p = sqrt((k + kp)/m);
|
||||
xip = c/(2*sqrt((k+kp)*m));
|
||||
|
||||
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];
|
||||
|
||||
freqs = logspace(-2, 1, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Giff(1,1), freqs))), 'k-')
|
||||
plot(freqs, abs(squeeze(freqresp(Giff_s(1,1), freqs))), 'k--')
|
||||
plot(freqs, abs(squeeze(freqresp(Giff_l(1,1), freqs))), 'k:')
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
|
||||
ylim([1e-5, 2e1]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))), 'k-', ...
|
||||
'DisplayName', '$k_p = 0$')
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_s(1,1), freqs))), 'k--', ...
|
||||
'DisplayName', '$k_p < m\Omega^2$')
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_l(1,1), freqs))), 'k:', ...
|
||||
'DisplayName', '$k_p > m\Omega^2$')
|
||||
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', 'southwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
% 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}
|
||||
|
||||
|
||||
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', '$k_p = 0$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(real(tzero(Giff)), imag(tzero(Giff)), 'o', ...
|
||||
'HandleVisibility', 'off');
|
||||
for g = gains
|
||||
cl_poles = pole(feedback(Giff, (g/s)*eye(2)));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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 g = gains
|
||||
cl_poles = pole(feedback(Giff_s, (g/s)*eye(2)));
|
||||
set(gca,'ColorOrderIndex',2);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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 g = gains
|
||||
set(gca,'ColorOrderIndex',3);
|
||||
cl_poles = pole(feedback(Giff_l, (g/s)*eye(2)));
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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 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');
|
||||
|
||||
% Effect of $k_p$ on the attainable damping
|
||||
% However, having large values of $k_p$ may 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]].
|
||||
|
||||
kps = [2, 20, 40]*m*W^2;
|
||||
|
||||
|
||||
|
||||
% It is shown that large values of $k_p$ decreases the attainable damping.
|
||||
|
||||
figure;
|
||||
|
||||
gains = logspace(-2, 4, 500);
|
||||
|
||||
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];
|
||||
(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', ...
|
||||
'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 g = gains
|
||||
Kiff = g/s*eye(2);
|
||||
|
||||
[w, zeta] = damp(minreal(feedback(Giff, Kiff)));
|
||||
|
||||
if min(zeta) > opt_zeta(alpha_i) && all(zeta > 0)
|
||||
opt_zeta(alpha_i) = min(zeta);
|
||||
opt_gain(alpha_i) = g;
|
||||
end
|
||||
Kiffa = (g/s)*eye(2);
|
||||
cl_poles = pole(feedback(Giff, Kiffa));
|
||||
set(gca,'ColorOrderIndex',kp_i);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
toc
|
||||
hold off;
|
||||
axis square;
|
||||
xlim([-1.2, 0.2]); ylim([0, 1.4]);
|
||||
|
||||
figure;
|
||||
yyaxis left
|
||||
plot(alphas, opt_zeta, '-o', 'DisplayName', '$\xi_{cl}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,1]);
|
||||
ylabel('Attainable Damping Ratio $\xi$');
|
||||
|
||||
yyaxis right
|
||||
hold on;
|
||||
plot(alphas, opt_gain, '-x', 'DisplayName', '$g_{opt}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,3]);
|
||||
ylabel('Controller gain $g$');
|
||||
|
||||
xlabel('$\alpha$');
|
||||
set(gca, 'XScale', 'log');
|
||||
legend('location', 'northeast');
|
||||
|
||||
|
||||
|
||||
% Alternative using fminserach
|
||||
xlabel('Real Part'); ylabel('Imaginary Part');
|
||||
legend('location', 'northwest');
|
||||
|
||||
alphas = logspace(-2, 0, 100);
|
||||
|
||||
opt_zeta = zeros(1, length(alphas)); % Optimal simultaneous damping
|
||||
opt_xi = zeros(1, length(alphas)); % Optimal simultaneous damping
|
||||
opt_gain = zeros(1, length(alphas)); % Corresponding optimal gain
|
||||
|
||||
Kiff = 1/s*eye(2);
|
||||
@ -74,6 +352,24 @@ for alpha_i = 1:length(alphas)
|
||||
fun = @(g)computeSimultaneousDamping(g, Giff, Kiff);
|
||||
|
||||
[g_opt, xi_opt] = fminsearch(fun, 2);
|
||||
opt_zeta(alpha_i) = 1/xi_opt;
|
||||
opt_xi(alpha_i) = 1/xi_opt;
|
||||
opt_gain(alpha_i) = g_opt;
|
||||
end
|
||||
|
||||
figure;
|
||||
yyaxis left
|
||||
plot(alphas, opt_xi, '-', 'DisplayName', '$\xi_{cl}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,1]);
|
||||
ylabel('Attainable Damping Ratio $\xi$');
|
||||
|
||||
yyaxis right
|
||||
hold on;
|
||||
plot(alphas, opt_gain, '-', 'DisplayName', '$g_{opt}$');
|
||||
set(gca, 'YScale', 'lin');
|
||||
ylim([0,2.5]);
|
||||
ylabel('Controller gain $g$');
|
||||
|
||||
xlabel('$\alpha$');
|
||||
set(gca, 'XScale', 'log');
|
||||
legend('location', 'northeast');
|
||||
|
||||
227
matlab/matlab/s5_act_damp_comparison.m
Normal file
227
matlab/matlab/s5_act_damp_comparison.m
Normal file
@ -0,0 +1,227 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
% Plant Parameters
|
||||
% Let's define initial values for the model.
|
||||
|
||||
k = 1; % Actuator Stiffness [N/m]
|
||||
c = 0.05; % Actuator Damping [N/(m/s)]
|
||||
m = 1; % Payload mass [kg]
|
||||
|
||||
xi = c/(2*sqrt(k*m));
|
||||
w0 = sqrt(k/m); % [rad/s]
|
||||
|
||||
kp = 0; % [N/m]
|
||||
cp = 0; % [N/(m/s)]
|
||||
|
||||
|
||||
|
||||
% The rotating speed is set to $\Omega = 0.1 \omega_0$.
|
||||
|
||||
W = 0.1*w0;
|
||||
|
||||
% Root Locus
|
||||
% IFF with High Pass Filter
|
||||
|
||||
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];
|
||||
|
||||
|
||||
|
||||
% IFF With parallel Stiffness
|
||||
|
||||
kp = 5*m*W^2;
|
||||
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;
|
||||
|
||||
figure;
|
||||
|
||||
gains = logspace(-2, 2, 100);
|
||||
|
||||
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 g = gains
|
||||
Kiff = (g/(wi + s))*eye(2);
|
||||
cl_poles = pole(feedback(Giff, Kiff));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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 g = gains
|
||||
Kiffa = (g/s)*eye(2);
|
||||
cl_poles = pole(feedback(Giff_kp, Kiffa));
|
||||
set(gca,'ColorOrderIndex',2);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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');
|
||||
|
||||
% 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.
|
||||
|
||||
|
||||
fun = @(g)computeSimultaneousDamping(g, Giff, (1/(wi+s))*eye(2));
|
||||
|
||||
[opt_gain_iff, opt_xi_iff] = fminsearch(fun, 0.5*(w0^2/W^2 - 1)*wi);
|
||||
opt_xi_iff = 1/opt_xi_iff;
|
||||
|
||||
fun = @(g)computeSimultaneousDamping(g, Giff_kp, 1/s*eye(2));
|
||||
|
||||
[opt_gain_kp, opt_xi_kp] = fminsearch(fun, 2);
|
||||
opt_xi_kp = 1/opt_xi_kp;
|
||||
|
||||
% Passive Damping - Critical Damping
|
||||
% \begin{equation}
|
||||
% \xi = \frac{c}{2 \sqrt{km}}
|
||||
% \end{equation}
|
||||
|
||||
% Critical Damping corresponds to to $\xi = 1$, and thus:
|
||||
% \begin{equation}
|
||||
% c_{\text{crit}} = 2 \sqrt{km}
|
||||
% \end{equation}
|
||||
|
||||
|
||||
c_opt = 2*sqrt(k*m);
|
||||
|
||||
% Transmissibility And Compliance
|
||||
% <<sec:comp_transmissibilty>>
|
||||
|
||||
|
||||
open('rotating_frame.slx');
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/fd'], 1, 'input'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
|
||||
|
||||
% Open Loop :ignore:
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
G_ol = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
G_ol.InputName = {'Dwx', 'Dwy', 'Fdx', 'Fdy'};
|
||||
G_ol.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% Passive Damping
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
c_old = c;
|
||||
c = c_opt;
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
|
||||
G_pas = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
G_pas.InputName = {'Dwx', 'Dwy', 'Fdx', 'Fdy'};
|
||||
G_pas.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
c = c_old;
|
||||
|
||||
% Pseudo Integrator IFF :ignore:
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
Kiff = opt_gain_iff/(wi + s)*tf(eye(2));
|
||||
|
||||
G_iff = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
G_iff.InputName = {'Dwx', 'Dwy', 'Fdx', 'Fdy'};
|
||||
G_iff.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% IFF With parallel Stiffness :ignore:
|
||||
|
||||
kp = 5*m*W^2;
|
||||
cp = 0.01;
|
||||
|
||||
Kiff = opt_gain_kp/s*tf(eye(2));
|
||||
|
||||
G_kp = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
G_kp.InputName = {'Dwx', 'Dwy', 'Fdx', 'Fdy'};
|
||||
G_kp.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% Transmissibility :ignore:
|
||||
|
||||
freqs = logspace(-2, 1, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff({'Dx'}, {'Dwx'}), freqs))), ...
|
||||
'DisplayName', 'IFF + HPF')
|
||||
plot(freqs, abs(squeeze(freqresp(G_kp( {'Dx'}, {'Dwx'}), freqs))), ...
|
||||
'DisplayName', 'IFF + $k_p$')
|
||||
plot(freqs, abs(squeeze(freqresp(G_pas({'Dx'}, {'Dwx'}), freqs))), ...
|
||||
'DisplayName', 'Passive')
|
||||
plot(freqs, abs(squeeze(freqresp(G_ol( {'Dx'}, {'Dwx'}), freqs))), 'k-', ...
|
||||
'DisplayName', 'Open-Loop')
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylim([1e-2, 3e1]);
|
||||
xlabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]');
|
||||
legend('location', 'southwest');
|
||||
|
||||
% Compliance :ignore:
|
||||
|
||||
freqs = logspace(-2, 1, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff({'Dx'}, {'Fdx'}), freqs))), ...
|
||||
'DisplayName', 'IFF + HPF')
|
||||
plot(freqs, abs(squeeze(freqresp(G_kp( {'Dx'}, {'Fdx'}), freqs))), ...
|
||||
'DisplayName', 'IFF + $k_p$')
|
||||
plot(freqs, abs(squeeze(freqresp(G_pas({'Dx'}, {'Fdx'}), freqs))), ...
|
||||
'DisplayName', 'Passive')
|
||||
plot(freqs, abs(squeeze(freqresp(G_ol( {'Dx'}, {'Fdx'}), freqs))), 'k-', ...
|
||||
'DisplayName', 'Open-Loop')
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylim([1e-2, 3e1]);
|
||||
xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]');
|
||||
legend('location', 'southwest');
|
||||
@ -1,159 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
% Plant Parameters
|
||||
% Let's define initial values for the model.
|
||||
|
||||
k = 1; % Actuator Stiffness [N/m]
|
||||
c = 0.05; % Actuator Damping [N/(m/s)]
|
||||
m = 1; % Payload mass [kg]
|
||||
|
||||
xi = c/(2*sqrt(k*m));
|
||||
w0 = sqrt(k/m); % [rad/s]
|
||||
|
||||
kp = 0; % [N/m]
|
||||
cp = 0; % [N/(m/s)]
|
||||
|
||||
% Comparison of the Analytical Model and the Simscape Model
|
||||
% The rotating speed is set to $\Omega = 0.1 \omega_0$.
|
||||
|
||||
W = 0.1*w0;
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
Kdvf = tf(zeros(2));
|
||||
|
||||
open('rotating_frame.slx');
|
||||
|
||||
|
||||
|
||||
% And the transfer function from $[F_u, F_v]$ to $[v_u, v_v]$ is identified using the Simscape model.
|
||||
|
||||
%% 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;
|
||||
|
||||
Gdvf = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Gdvf.InputName = {'Fu', 'Fv'};
|
||||
Gdvf.OutputName = {'Vu', 'Vv'};
|
||||
|
||||
|
||||
|
||||
% The same transfer function from $[F_u, F_v]$ to $[v_u, v_v]$ is written down from the analytical model.
|
||||
|
||||
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'};
|
||||
|
||||
|
||||
|
||||
% The two are compared in Figure [[fig:plant_iff_comp_simscape_analytical]] and found to perfectly match.
|
||||
|
||||
|
||||
freqs = logspace(-1, 1, 1000);
|
||||
|
||||
figure;
|
||||
ax1 = subplot(2, 2, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Gdvf(1,1), freqs))), '-')
|
||||
plot(freqs, abs(squeeze(freqresp(Gdvf_th(1,1), freqs))), '--')
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
set(gca, 'XTickLabel',[]); ylabel('Magnitude [$\frac{m/s}{N}$]');
|
||||
title('$v_u/F_u$, $v_v/F_v$');
|
||||
|
||||
ax3 = subplot(2, 2, 3);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gdvf(1,1), freqs))), '-')
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gdvf_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(Gdvf(1,2), freqs))), '-')
|
||||
plot(freqs, abs(squeeze(freqresp(Gdvf_th(1,2), freqs))), '--')
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
set(gca, 'XTickLabel',[]); ylabel('Magnitude [$\frac{m/s}{N}$]');
|
||||
title('$v_u/F_v$, $v_v/F_u$');
|
||||
|
||||
ax4 = subplot(2, 2, 4);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gdvf(1,2), freqs))), '-')
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gdvf_th(1,2), 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;
|
||||
|
||||
linkaxes([ax1,ax2,ax3,ax4],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
linkaxes([ax1,ax2],'y');
|
||||
|
||||
% 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]].
|
||||
|
||||
Ws = [0, 0.2, 0.7, 1.1]*w0; % Rotating Speeds [rad/s]
|
||||
|
||||
|
||||
|
||||
% 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, 1, 100);
|
||||
|
||||
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');
|
||||
|
||||
for g = gains
|
||||
set(gca,'ColorOrderIndex',W_i);
|
||||
cl_poles = pole(feedback(Gdvf, g*eye(2)));
|
||||
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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');
|
||||
@ -1,364 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
% Plant Parameters
|
||||
% Let's define initial values for the model.
|
||||
|
||||
k = 1; % Actuator Stiffness [N/m]
|
||||
c = 0.05; % Actuator Damping [N/(m/s)]
|
||||
m = 1; % Payload mass [kg]
|
||||
|
||||
xi = c/(2*sqrt(k*m));
|
||||
w0 = sqrt(k/m); % [rad/s]
|
||||
|
||||
kp = 0; % [N/m]
|
||||
cp = 0; % [N/(m/s)]
|
||||
|
||||
|
||||
|
||||
% The rotating speed is set to $\Omega = 0.1 \omega_0$.
|
||||
|
||||
W = 0.1*w0;
|
||||
|
||||
% Root Locus
|
||||
% IFF with High Pass Filter
|
||||
|
||||
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];
|
||||
|
||||
|
||||
|
||||
% IFF With parallel Stiffness
|
||||
|
||||
kp = 5*m*W^2;
|
||||
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;
|
||||
|
||||
|
||||
|
||||
% DVF
|
||||
|
||||
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)];
|
||||
|
||||
figure;
|
||||
|
||||
gains = logspace(-2, 2, 100);
|
||||
|
||||
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 g = gains
|
||||
Kiff = (g/(wi + s))*eye(2);
|
||||
cl_poles = pole(feedback(Giff, Kiff));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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 g = gains
|
||||
Kiffa = (g/s)*eye(2);
|
||||
cl_poles = pole(feedback(Giff_kp, Kiffa));
|
||||
set(gca,'ColorOrderIndex',2);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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 g = gains
|
||||
Kdvf = g*eye(2);
|
||||
cl_poles = pole(feedback(Gdvf, Kdvf));
|
||||
set(gca,'ColorOrderIndex',3);
|
||||
plot(real(cl_poles), imag(cl_poles), '.', ...
|
||||
'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');
|
||||
|
||||
% 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.
|
||||
|
||||
|
||||
%% 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/(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 = g;
|
||||
end
|
||||
end
|
||||
|
||||
%% IFF with Parallel Stiffness
|
||||
gains = logspace(-2, 4, 100);
|
||||
opt_zeta_kp = 0;
|
||||
opt_gain_kp = 0;
|
||||
|
||||
for g = gains
|
||||
Kiff = g/s*eye(2);
|
||||
|
||||
[w, zeta] = damp(minreal(feedback(Giff_kp, Kiff)));
|
||||
|
||||
if min(zeta) > opt_zeta_kp && all(zeta > 0)
|
||||
opt_zeta_kp = min(zeta);
|
||||
opt_gain_kp = g;
|
||||
end
|
||||
end
|
||||
|
||||
%% Direct Velocity Feedback
|
||||
gains = logspace(0, 2, 100);
|
||||
opt_zeta_dvf = 0;
|
||||
opt_gain_dvf = 0;
|
||||
|
||||
for g = gains
|
||||
Kdvf = g*eye(2);
|
||||
|
||||
[w, zeta] = damp(minreal(feedback(Gdvf, Kdvf)));
|
||||
|
||||
if min(zeta) > opt_zeta_dvf && all(zeta > 0) && min(zeta) < 0.85
|
||||
opt_zeta_dvf = min(zeta);
|
||||
opt_gain_dvf = g;
|
||||
end
|
||||
end
|
||||
|
||||
% Transmissibility
|
||||
% <<sec:comp_transmissibilty>>
|
||||
|
||||
|
||||
open('rotating_frame.slx');
|
||||
|
||||
% Open Loop :ignore:
|
||||
|
||||
Kdvf = tf(zeros(2));
|
||||
Kiff = tf(zeros(2));
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
|
||||
|
||||
Tol = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Tol.InputName = {'Dwx', 'Dwy'};
|
||||
Tol.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% Pseudo Integrator IFF :ignore:
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
Kdvf = tf(zeros(2));
|
||||
|
||||
Kiff = opt_gain_iff/(wi + s)*tf(eye(2));
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
|
||||
|
||||
Tiff = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Tiff.InputName = {'Dwx', 'Dwy'};
|
||||
Tiff.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% IFF With parallel Stiffness :ignore:
|
||||
|
||||
kp = 5*m*W^2;
|
||||
cp = 0.01;
|
||||
|
||||
Kiff = opt_gain_kp/s*tf(eye(2));
|
||||
|
||||
Kdvf = tf(zeros(2));
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
|
||||
|
||||
Tiff_kp = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Tiff_kp.InputName = {'Dwx', 'Dwy'};
|
||||
Tiff_kp.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% DVF :ignore:
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
|
||||
Kdvf = opt_gain_kp*tf(eye(2));
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
|
||||
|
||||
Tdvf = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Tdvf.InputName = {'Dwx', 'Dwy'};
|
||||
Tdvf.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% Transmissibility :ignore:
|
||||
|
||||
freqs = logspace(-2, 1, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Tiff(1,1), freqs))), ...
|
||||
'DisplayName', 'IFF + HPF')
|
||||
plot(freqs, abs(squeeze(freqresp(Tiff_kp(1,1), freqs))), ...
|
||||
'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', 'Open-Loop')
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]');
|
||||
legend('location', 'southwest');
|
||||
|
||||
% Open Loop :ignore:
|
||||
|
||||
Kdvf = tf(zeros(2));
|
||||
Kiff = tf(zeros(2));
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/fd'], 1, 'input'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
|
||||
|
||||
Col = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Col.InputName = {'Fdx', 'Fdy'};
|
||||
Col.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% Pseudo Integrator IFF :ignore:
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
Kdvf = tf(zeros(2));
|
||||
|
||||
Kiff = opt_gain_iff/(wi + s)*tf(eye(2));
|
||||
|
||||
Ciff = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Ciff.InputName = {'Fdx', 'Fdy'};
|
||||
Ciff.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% IFF With parallel Stiffness :ignore:
|
||||
|
||||
kp = 5*m*W^2;
|
||||
cp = 0.01;
|
||||
|
||||
Kiff = opt_gain_kp/s*tf(eye(2));
|
||||
|
||||
Kdvf = tf(zeros(2));
|
||||
|
||||
Ciff_kp = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Ciff_kp.InputName = {'Fdx', 'Fdy'};
|
||||
Ciff_kp.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% DVF :ignore:
|
||||
|
||||
kp = 0;
|
||||
cp = 0;
|
||||
|
||||
Kiff = tf(zeros(2));
|
||||
|
||||
Kdvf = opt_gain_kp*tf(eye(2));
|
||||
|
||||
Cdvf = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output definition
|
||||
Cdvf.InputName = {'Fdx', 'Fdy'};
|
||||
Cdvf.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
% Compliance :ignore:
|
||||
|
||||
freqs = logspace(-2, 1, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Ciff(1,1), freqs))), ...
|
||||
'DisplayName', 'IFF + HPF')
|
||||
plot(freqs, abs(squeeze(freqresp(Ciff_kp(1,1), freqs))), ...
|
||||
'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', 'Open-Loop')
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]');
|
||||
legend('location', 'southwest');
|
||||
@ -64,4 +64,13 @@
|
||||
H-infinity control},
|
||||
year = 1992,
|
||||
keywords = {},
|
||||
}
|
||||
}
|
||||
|
||||
@inproceedings{dehaeze20_activ_dampin_rotat_platf_integ_force_feedb,
|
||||
author = {Dehaeze, T. and Collette, C.},
|
||||
title = {Active Damping of Rotating Platforms using Integral Force
|
||||
Feedback},
|
||||
booktitle = {Proceedings of the International Conference on Modal
|
||||
Analysis Noise and Vibration Engineering (ISMA)},
|
||||
year = 2020,
|
||||
}
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
% Compute Damping
|
||||
% =computeSimultaneousDamping=
|
||||
|
||||
function [xi_min] = computeSimultaneousDamping(g, G, K)
|
||||
[w, xi] = damp(minreal(feedback(G, g*K)));
|
||||
|
||||
248
tikz/index.html
248
tikz/index.html
@ -3,9 +3,9 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-06-22 lun. 14:45 -->
|
||||
<!-- 2020-07-09 jeu. 09:31 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<title>Tikz Figures</title>
|
||||
<title>Active Damping of Rotating Platforms using Integral Force Feedback - Tikz Figures</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Thomas Dehaeze" />
|
||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
@ -21,16 +21,15 @@
|
||||
|
|
||||
<a accesskey="H" href="../index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Tikz Figures</h1>
|
||||
<h1 class="title">Active Damping of Rotating Platforms using Integral Force Feedback - Tikz Figures</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgfc691a5">1. X-Y Rotating Positioning Platform</a></li>
|
||||
<li><a href="#org221a454">2. X-Y Rotating Positioning Platform with Force Sensors</a></li>
|
||||
<li><a href="#org7cc7ccb">3. Decentralized Integral Force Feedback</a></li>
|
||||
<li><a href="#orgbd891cf">4. Decentralized Direct Velocity Feedback</a></li>
|
||||
<li><a href="#orgedc1f23">5. Springs in parallel</a></li>
|
||||
<li><a href="#orgb9c9150">1. X-Y Rotating Positioning Platform</a></li>
|
||||
<li><a href="#org0c90cdd">2. X-Y Rotating Positioning Platform</a></li>
|
||||
<li><a href="#orgef77a1d">3. Decentralized Integral Force Feedback</a></li>
|
||||
<li><a href="#org5339b95">4. Springs in parallel</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
@ -38,8 +37,8 @@
|
||||
Configuration file is accessible <a href="config.html">here</a>.
|
||||
</p>
|
||||
|
||||
<div id="outline-container-orgfc691a5" class="outline-2">
|
||||
<h2 id="orgfc691a5"><span class="section-number-2">1</span> X-Y Rotating Positioning Platform</h2>
|
||||
<div id="outline-container-orgb9c9150" class="outline-2">
|
||||
<h2 id="orgb9c9150"><span class="section-number-2">1</span> X-Y Rotating Positioning Platform</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
@ -58,7 +57,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform};
|
||||
|
||||
% Mass
|
||||
\draw[fill=white] (-1, -1) rectangle (1, 1);
|
||||
@ -81,10 +80,6 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
\draw[damper={8}{8}] (cv) -- node[left=0.1, rotate=\thetau]{$c$} (cv|-0,-2.6);
|
||||
|
||||
% % Displacement measurement
|
||||
% \draw[<->, dashed] (-2.6, -0.8) --node[midway, below, rotate=\thetau]{$d_u$} (-1 , -0.8);
|
||||
% \draw[<->, dashed] ( 0.8, -2.6) --node[midway, right, rotate=\thetau]{$d_v$} ( 0.8, -1);
|
||||
\end{scope}
|
||||
|
||||
% Inertial Frame
|
||||
@ -93,12 +88,12 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
\draw[fill, color=black] (-4, -4) circle (0.06);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
|
||||
|
||||
\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
|
||||
\draw[fill, color=black] (0,0) circle (0.06);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){};
|
||||
\draw[dashed] (0, 0) -- ++(2, 0);
|
||||
\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
|
||||
\node[] at (0,0) {$\bullet$};
|
||||
\node[left] at (0,0) {$(x, y)$};
|
||||
|
||||
\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
|
||||
\end{tikzpicture}
|
||||
@ -113,84 +108,54 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org221a454" class="outline-2">
|
||||
<h2 id="org221a454"><span class="section-number-2">2</span> X-Y Rotating Positioning Platform with Force Sensors</h2>
|
||||
<div id="outline-container-org0c90cdd" class="outline-2">
|
||||
<h2 id="org0c90cdd"><span class="section-number-2">2</span> X-Y Rotating Positioning Platform</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
<pre class="src src-latex">\tikzset{block/.default={0.8cm}{0.8cm}}
|
||||
\tikzset{addb/.append style={scale=0.7}}
|
||||
\tikzset{node distance=0.6}
|
||||
|
||||
% Rotational Stage
|
||||
\draw[fill=black!60!white] (0, 0) circle (4.3);
|
||||
\draw[fill=black!40!white] (0, 0) circle (3.8);
|
||||
\begin{tikzpicture}
|
||||
\node[block={1.8cm}{2.2cm}] (G) {$\bm{G}_f$};
|
||||
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
|
||||
% Inputs of the controllers
|
||||
\coordinate[] (output1) at ($(G.south east)!0.75!(G.north east)$);
|
||||
\coordinate[] (output2) at ($(G.south east)!0.25!(G.north east)$);
|
||||
\coordinate[] (input1) at ($(G.south west)!0.75!(G.north west)$);
|
||||
\coordinate[] (input2) at ($(G.south west)!0.25!(G.north west)$);
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
\node[block, left=1.8 of input1] (K1) {$K_F$};
|
||||
\node[block] (K2) at ($(K1.east|-input2)+(0.6, 0)$) {$K_F$};
|
||||
|
||||
% Mass
|
||||
\draw[fill=white] (-1, -1) rectangle (1, 1);
|
||||
% Label
|
||||
\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
|
||||
% Connections and labels
|
||||
\draw[->] (K1.east) -- (input1)node[above left]{$F_u$}node[below left]{$-$};
|
||||
\draw[->] (K2.east) -- (input2)node[above left]{$F_v$}node[below left]{$-$};
|
||||
|
||||
% Attached Points
|
||||
\node[] at (-1, 0){$\bullet$};
|
||||
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
|
||||
\node[] at (0, -1){$\bullet$};
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
|
||||
\draw[->] (output1) -- ++(0.8, 0) node[above left]{$f_u$};
|
||||
\draw[->] (output2) -- ++(0.8, 0) node[above left]{$f_v$};
|
||||
|
||||
% Force Sensors
|
||||
\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
|
||||
\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
|
||||
\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) node[above=0.1, rotate=\thetau]{$f_{u}$} -- ($(au) + (0, -0.5)$);
|
||||
\draw[->] ($(output1)+(0.2, 0)$)node[branch]{} -- ++(0, 1.2) -| ($(K1.west) + (-0.8, 0)$)coordinate(start) -- (K1.west);
|
||||
\draw[->] ($(output2)+(0.2, 0)$)node[branch]{} -- ++(0, -1.2) -| (start|-K2) -- (K2.west);
|
||||
|
||||
\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
|
||||
\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
|
||||
\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) node[left=0.1, rotate=\thetau]{$f_{v}$} -- ($(av) + ( 0.5, 0)$);
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
\begin{scope}[on background layer]
|
||||
\node[fit={(K1.north west) (K2.south east)}, inner sep=6pt, draw, dashed, fill=black!20!white] (K) {};
|
||||
\node[below left] at (K.north east) {$\bm{K}_F$};
|
||||
\end{scope}
|
||||
|
||||
% Inertial Frame
|
||||
\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
|
||||
\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
|
||||
\draw[fill, color=black] (-4, -4) circle (0.06);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
|
||||
|
||||
\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
|
||||
\draw[dashed] (0, 0) -- ++(2, 0);
|
||||
\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
|
||||
\node[] at (0,0) {$\bullet$};
|
||||
\node[left] at (0,0) {$(x, y)$};
|
||||
|
||||
\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
|
||||
\end{tikzpicture}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/system_force_sensors.png" alt="system_force_sensors.png" />
|
||||
<p><img src="figs/control_diagram_iff.png" alt="control_diagram_iff.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7cc7ccb" class="outline-2">
|
||||
<h2 id="org7cc7ccb"><span class="section-number-2">3</span> Decentralized Integral Force Feedback</h2>
|
||||
<div id="outline-container-orgef77a1d" class="outline-2">
|
||||
<h2 id="orgef77a1d"><span class="section-number-2">3</span> Decentralized Integral Force Feedback</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
@ -209,7 +174,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform};
|
||||
|
||||
% Mass
|
||||
\draw[fill=white] (-1, -1) rectangle (1, 1);
|
||||
@ -225,13 +190,11 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
% Force Sensors
|
||||
\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
|
||||
\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
|
||||
\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) node[above=0.1, rotate=\thetau]{$f_{u}$} -- ($(au) + (0, -0.5)$);
|
||||
\node[above, rotate=\thetau] at ($(av) + (-0.1, 0.5)$) {$f_{u}$};
|
||||
\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) -- ($(au) + (0, -0.5)$);
|
||||
|
||||
\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
|
||||
\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
|
||||
\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$);
|
||||
\node[left, rotate=\thetau] at ($(av) + (-0.5, -0.1)$) {$f_{v}$};
|
||||
\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
|
||||
\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$);
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
|
||||
@ -242,12 +205,12 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
|
||||
\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{F}$};
|
||||
\draw[->] ($(au) + (-0.1, -0.5)$) |- (Ku.east);
|
||||
\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$};
|
||||
\draw[->] ($(au) + (-0.1, -0.5)$) |- (Ku.east) node[below right, rotate=\thetau]{$f_{u}$};
|
||||
\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$} node[below right, rotate=\thetau]{$-$};
|
||||
|
||||
\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{F}$};
|
||||
\draw[->] ($(av) + (0.5, -0.1)$) -| (Kv.north);
|
||||
\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$};
|
||||
\draw[->] ($(av) + (0.5, -0.1)$) -| (Kv.north) node[above right, rotate=\thetau]{$f_{v}$};
|
||||
\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$} node[above right, rotate=\thetau]{$-$};
|
||||
\end{scope}
|
||||
|
||||
% Inertial Frame
|
||||
@ -256,12 +219,12 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
\draw[fill, color=black] (-4, -4) circle (0.06);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
|
||||
|
||||
\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){};
|
||||
\draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
|
||||
\draw[dashed] (0, 0) -- ++(2, 0);
|
||||
\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
|
||||
\node[] at (0,0) {$\bullet$};
|
||||
\node[left] at (0,0) {$(x, y)$};
|
||||
|
||||
\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
|
||||
\end{tikzpicture}
|
||||
@ -276,8 +239,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbd891cf" class="outline-2">
|
||||
<h2 id="orgbd891cf"><span class="section-number-2">4</span> Decentralized Direct Velocity Feedback</h2>
|
||||
<div id="outline-container-org5339b95" class="outline-2">
|
||||
<h2 id="org5339b95"><span class="section-number-2">4</span> Springs in parallel</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
@ -296,98 +259,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% Mass
|
||||
\draw[fill=white] (-1, -1) rectangle (1, 1);
|
||||
% Label
|
||||
\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
|
||||
|
||||
% Attached Points
|
||||
\node[] at (-1, 0){$\bullet$};
|
||||
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
|
||||
\node[] at (0, -1){$\bullet$};
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
|
||||
|
||||
% Attached Points
|
||||
\node[] at (-1, 0){$\bullet$};
|
||||
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu);
|
||||
\draw[] ($(cu) + (0, -0.5)$) coordinate(actu) -- ($(cu) + (0, 0.5)$) coordinate(ku);
|
||||
\node[] at (0, -1){$\bullet$};
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(cv);
|
||||
\draw[] ($(cv) + (-0.5, 0)$)coordinate(kv) -- ($(cv) + (0.5, 0)$) coordinate(actv);
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
|
||||
% Displacement measurement
|
||||
\draw[<->, dashed] (-2.6, -0.8) -- (-1 , -0.8) coordinate(dutop);
|
||||
\draw[<->, dashed] ( 0.8, -2.6) -- ( 0.8, -1) coordinate(dvtop);
|
||||
|
||||
% Controllers
|
||||
\node[block={0.6cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{V}$};
|
||||
\draw[->] ($(dutop) + (-0.1, 0)$) node[below left, rotate=\thetau]{$v_u$} |- (Ku.east);
|
||||
\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$);
|
||||
|
||||
\node[block={0.6cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{V}$};
|
||||
\draw[->] ($(dvtop) + (0, -0.1)$) node[below right, rotate=\thetau]{$v_v$} -| (Kv.north);
|
||||
\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$);
|
||||
|
||||
\node[above=0.1, rotate=\thetau] at (actumid) {$F_u$};
|
||||
\node[left=0.1, rotate=\thetau] at (actvmid) {$F_v$};
|
||||
\end{scope}
|
||||
|
||||
% Inertial Frame
|
||||
\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
|
||||
\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
|
||||
\draw[fill, color=black] (-4, -4) circle (0.06);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
|
||||
|
||||
\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
|
||||
\draw[dashed] (0, 0) -- ++(2, 0);
|
||||
\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
|
||||
\node[] at (0,0) {$\bullet$};
|
||||
\node[left] at (0,0) {$(x, y)$};
|
||||
|
||||
\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
|
||||
\end{tikzpicture}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/system_dvf.png" alt="system_dvf.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgedc1f23" class="outline-2">
|
||||
<h2 id="orgedc1f23"><span class="section-number-2">5</span> Springs in parallel</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex">\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\draw[fill=black!60!white] (0, 0) circle (4.3);
|
||||
\draw[fill=black!40!white] (0, 0) circle (3.8);
|
||||
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform};
|
||||
|
||||
% Mass
|
||||
\draw[fill=white] (-1, -1) rectangle (1, 1);
|
||||
@ -411,12 +283,12 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- node[below=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[below=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
|
||||
\draw[spring=0.2] (-1, 0.8) -- node[above=0.1, rotate=\thetau]{$k_{p}$} (-1, 0.8-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[below=0.1, rotate=\thetau]{$k_a$} (ku-|-2.6,0);
|
||||
\draw[spring=0.2] (-1, 0.8) -- node[above=0.1, rotate=\thetau]{$k_p$} (-1, 0.8-|-2.6,0);
|
||||
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- node[right=0.1, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[right=0.1, rotate=\thetau]{$k$} (kv|-0,-2.6);
|
||||
\draw[spring=0.2] (-0.8, -1) -- node[left=0.1, rotate=\thetau]{$k_{p}$} (-0.8, -1|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[right=0.1, rotate=\thetau]{$k_a$} (kv|-0,-2.6);
|
||||
\draw[spring=0.2] (-0.8, -1) -- node[left=0.1, rotate=\thetau]{$k_p$} (-0.8, -1|-0,-2.6);
|
||||
\end{scope}
|
||||
|
||||
% Inertial Frame
|
||||
@ -425,12 +297,12 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
\draw[fill, color=black] (-4, -4) circle (0.06);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
|
||||
|
||||
\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){};
|
||||
\draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
|
||||
\draw[dashed] (0, 0) -- ++(2, 0);
|
||||
\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
|
||||
\node[] at (0,0) {$\bullet$};
|
||||
\node[left] at (0,0) {$(x, y)$};
|
||||
|
||||
\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
|
||||
\end{tikzpicture}
|
||||
@ -447,7 +319,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2020-06-22 lun. 14:45</p>
|
||||
<p class="date">Created: 2020-07-09 jeu. 09:31</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
#+TITLE: Tikz Figures
|
||||
#+TITLE: Active Damping of Rotating Platforms using Integral Force Feedback - Tikz Figures
|
||||
:DRAWER:
|
||||
#+HTML_LINK_HOME: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
|
||||
Loading…
Reference in New Issue
Block a user