271 lines
12 KiB
Org Mode
271 lines
12 KiB
Org Mode
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#+TITLE: Active Damping of Rotating Platforms using Integral Force Feedback - Tikz Figures
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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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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze20_contr_stewa_platf/tikz/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results file raw replace
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#+PROPERTY: header-args:latex+ :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
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:END:
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Configuration file is accessible [[file:config.org][here]].
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* X-Y Rotating Positioning Platform
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#+begin_src latex :file system.pdf
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\begin{tikzpicture}
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% Angle
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\def\thetau{25}
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% Rotational Stage
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\draw[fill=black!60!white] (0, 0) circle (4.3);
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\draw[fill=black!40!white] (0, 0) circle (3.8);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
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% Rotating Scope
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\begin{scope}[rotate=\thetau]
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% Rotating Frame
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\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform};
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% Mass
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\draw[fill=white] (-1, -1) rectangle (1, 1);
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% Label
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\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
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% Attached Points
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\node[] at (-1, 0){$\bullet$};
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\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu);
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\draw[] ($(cu) + (0, -0.8)$) coordinate(actu) -- ($(cu) + (0, 0.8)$) coordinate(ku);
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\node[] at (0, -1){$\bullet$};
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\draw[] (0, -1) -- ++(0, -0.2) coordinate(cv);
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\draw[] ($(cv) + (-0.8, 0)$)coordinate(kv) -- ($(cv) + (0.8, 0)$) coordinate(actv);
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
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\draw[damper={8}{8}] (cu) -- node[above left=0.2 and -0.1, rotate=\thetau]{$c$} (cu-|-2.6,0);
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\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
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\draw[damper={8}{8}] (cv) -- node[left=0.1, rotate=\thetau]{$c$} (cv|-0,-2.6);
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\end{scope}
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% Inertial Frame
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\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
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\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
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\draw[fill, color=black] (-4, -4) circle (0.06);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
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\draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
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\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
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\draw[fill, color=black] (0,0) circle (0.06);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){};
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\draw[dashed] (0, 0) -- ++(2, 0);
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\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
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\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/system.png]]
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* X-Y Rotating Positioning Platform
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#+begin_src latex :file control_diagram_iff.pdf
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\tikzset{block/.default={0.8cm}{0.8cm}}
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\tikzset{addb/.append style={scale=0.7}}
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\tikzset{node distance=0.6}
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\begin{tikzpicture}
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\node[block={1.8cm}{2.2cm}] (G) {$\bm{G}_f$};
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% Inputs of the controllers
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\coordinate[] (output1) at ($(G.south east)!0.75!(G.north east)$);
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\coordinate[] (output2) at ($(G.south east)!0.25!(G.north east)$);
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\coordinate[] (input1) at ($(G.south west)!0.75!(G.north west)$);
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\coordinate[] (input2) at ($(G.south west)!0.25!(G.north west)$);
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\node[block, left=1.8 of input1] (K1) {$K_F$};
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\node[block] (K2) at ($(K1.east|-input2)+(0.6, 0)$) {$K_F$};
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% Connections and labels
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\draw[->] (K1.east) -- (input1)node[above left]{$F_u$}node[below left]{$-$};
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\draw[->] (K2.east) -- (input2)node[above left]{$F_v$}node[below left]{$-$};
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\draw[->] (output1) -- ++(0.8, 0) node[above left]{$f_u$};
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\draw[->] (output2) -- ++(0.8, 0) node[above left]{$f_v$};
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\draw[->] ($(output1)+(0.2, 0)$)node[branch]{} -- ++(0, 1.2) -| ($(K1.west) + (-0.8, 0)$)coordinate(start) -- (K1.west);
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\draw[->] ($(output2)+(0.2, 0)$)node[branch]{} -- ++(0, -1.2) -| (start|-K2) -- (K2.west);
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\begin{scope}[on background layer]
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\node[fit={(K1.north west) (K2.south east)}, inner sep=6pt, draw, dashed, fill=black!20!white] (K) {};
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\node[below left] at (K.north east) {$\bm{K}_F$};
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\end{scope}
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/control_diagram_iff.png]]
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* Decentralized Integral Force Feedback
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#+begin_src latex :file system_iff.pdf
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\begin{tikzpicture}
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% Angle
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\def\thetau{25}
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% Rotational Stage
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\draw[fill=black!60!white] (0, 0) circle (4.3);
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\draw[fill=black!40!white] (0, 0) circle (3.8);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
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% Rotating Scope
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\begin{scope}[rotate=\thetau]
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% Rotating Frame
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\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform};
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% Mass
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\draw[fill=white] (-1, -1) rectangle (1, 1);
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% Label
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\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
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% Attached Points
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\node[] at (-1, 0){$\bullet$};
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\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
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\node[] at (0, -1){$\bullet$};
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\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
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% Force Sensors
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\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) -- ($(au) + (0, -0.5)$);
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\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
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\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
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\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$);
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
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% \draw[actuator={0.6}{0.2}] (actv) -- node[right, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
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\draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
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\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{F}$};
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\draw[->] ($(au) + (-0.1, -0.5)$) |- (Ku.east) node[below right, rotate=\thetau]{$f_{u}$};
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\draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$} node[below right, rotate=\thetau]{$-$};
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\node[block={0.8cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{F}$};
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\draw[->] ($(av) + (0.5, -0.1)$) -| (Kv.north) node[above right, rotate=\thetau]{$f_{v}$};
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\draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$} node[above right, rotate=\thetau]{$-$};
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\end{scope}
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% Inertial Frame
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\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
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\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
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\draw[fill, color=black] (-4, -4) circle (0.06);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){};
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\draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
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\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
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\draw[dashed] (0, 0) -- ++(2, 0);
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\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
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\node[] at (0,0) {$\bullet$};
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\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/system_iff.png]]
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* Springs in parallel
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#+begin_src latex :file system_parallel_springs.pdf
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\begin{tikzpicture}
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% Angle
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\def\thetau{25}
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% Rotational Stage
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\draw[fill=black!60!white] (0, 0) circle (4.3);
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\draw[fill=black!40!white] (0, 0) circle (3.8);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
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% Rotating Scope
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\begin{scope}[rotate=\thetau]
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% Rotating Frame
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\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform};
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% Mass
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\draw[fill=white] (-1, -1) rectangle (1, 1);
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% Label
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\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
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% Attached Points
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\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
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\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
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% Force Sensors
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\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) -- ($(au) + (0, -0.5)$);
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\node[below=0.1, rotate=\thetau] at ($(au) + (-0.1, -0.5)$) {$f_{u}$}
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\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
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\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
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\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$) ;
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\node[right=0.1, rotate=\thetau] at ($(av) + (0.5, -0.1)$) {$f_{v}$}
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- node[below=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[below=0.1, rotate=\thetau]{$k_a$} (ku-|-2.6,0);
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\draw[spring=0.2] (-1, 0.8) -- node[above=0.1, rotate=\thetau]{$k_p$} (-1, 0.8-|-2.6,0);
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\draw[actuator={0.6}{0.2}] (actv) -- node[right=0.1, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[right=0.1, rotate=\thetau]{$k_a$} (kv|-0,-2.6);
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\draw[spring=0.2] (-0.8, -1) -- node[left=0.1, rotate=\thetau]{$k_p$} (-0.8, -1|-0,-2.6);
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\end{scope}
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% Inertial Frame
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\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
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\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
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\draw[fill, color=black] (-4, -4) circle (0.06);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){};
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\draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
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\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
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\draw[dashed] (0, 0) -- ++(2, 0);
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\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
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\node[] at (0,0) {$\bullet$};
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\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
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\end{tikzpicture}
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#+end_src
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||
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#+RESULTS:
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||
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[[file:figs/system_parallel_springs.png]]
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