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Add Figures, Remove Function section

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Thomas Dehaeze 2020-06-24 08:44:28 +02:00
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@ -55,11 +55,11 @@
#+end_src
** System description
The system consists of one 2 degree of freedom translation stage on top of a spindle (figure [[fig:rotating_xy_platform]]).
The system consists of one 2 degree of freedom translation stage on top of a spindle (figure [[fig:system]]).
#+name: fig:rotating_xy_platform
#+name: fig:system
#+caption: Schematic of the studied system
[[file:figs-tikz/rotating_xy_platform.png]]
[[file:figs-tikz/system.png]]
The control inputs are the forces applied by the actuators of the translation stage ($F_u$ and $F_v$).
As the translation stage is rotating around the Z axis due to the spindle, the forces are applied along $\vec{i}_u$ and $\vec{i}_v$.
@ -67,7 +67,7 @@ As the translation stage is rotating around the Z axis due to the spindle, the f
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.
** Equations
Based on the Figure [[fig:rotating_xy_platform]], the equations of motions are:
Based on the Figure [[fig:system]], the equations of motions are:
#+begin_important
\begin{equation}
\begin{bmatrix} d_u \\ d_v \end{bmatrix} =
@ -414,6 +414,12 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]].
addpath('./src/');
#+end_src
** Schematic
#+name: fig:system_iff
#+caption: Figure caption
[[file:figs-tikz/system_iff.pdf]]
** Plant Parameters
Let's define initial values for the model.
#+begin_src matlab
@ -1191,9 +1197,9 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode
** Schematic
#+name: fig:rotating_xy_platform_springs
#+name: fig:system_parallel_springs
#+caption: Figure caption
[[file:figs-tikz/rotating_xy_platform_springs.png]]
[[file:figs-tikz/system_parallel_springs.png]]
** Equations
#+begin_important
@ -1903,6 +1909,12 @@ Let's take $k_p = 5 m \Omega^2$ and find the optimal IFF control gain $g$ such t
addpath('./src/');
#+end_src
** Schematic
#+name: fig:system_dvf
#+caption: Figure caption
[[file:figs-tikz/system_dvf.png]]
** Equations
The sensed relative velocity are equal to:
#+begin_important
@ -2730,7 +2742,7 @@ The obtained damping ratio and control are shown below.
| IFF Controller | $\bm{K}_\text{IFF}(s)$ | =Kiff= | |
| DVF Controller | $\bm{K}_\text{DVF}(s)$ | =Kdvf= | |
* Function
* Functions :noexport:
** Sort Poles for the Root Locus
:PROPERTIES:
:header-args:matlab+: :tangle src/rootLocusPolesSorted.m