15 KiB
15 KiB
Tikz Figures
- Mechatronic Approach
- HAC-LAC Representation (two columns)
- HAC-LAC alternative (one column)
- Mass Spring Damper Model
Mechatronic Approach
\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} }
\begin{tikzpicture}
% Styles
\tikzset{myblock/.style= {draw, dashed, fill=white, text width=3cm, align=center, minimum height=1.4cm}};
\tikzset{mylabel/.style= {anchor=north, below, font=\bfseries\small, color=black, text width=3cm, align=center}};
\tikzset{mymodel/.style= {anchor=south, above, font=\small, color=black, text width=3cm, align=center}};
\tikzset{mystep/.style= {->, ultra thick}};
% Blocks
\node[myblock, solid, fill=lightblue, draw, label={[mylabel, text width=8.0cm] Dynamical Models}, minimum height = 4.5cm, text width = 8.0cm] (model) at (0, 0) {};
\node[myblock, fill=lightgreen, label={[mylabel] Disturbances}, left = 3 of model.west] (dist) {};
\node[myblock, fill=lightgreen, label={[mylabel] $\mu$ Station}, below = 2pt of dist] (mustation) {};
\node[myblock, fill=lightgreen, label={[mylabel] $\nu$ Hexapod}, above = 2pt of dist] (nanohexapod) {};
\node[myblock, fill=lightyellow, label={[mylabel] Mech. Design}, above = 1 of model.north] (mechanical) {};
\node[myblock, fill=lightyellow, label={[mylabel] Instrumentation}, left = 2pt of mechanical] (instrumentation) {};
\node[myblock, fill=lightyellow, label={[mylabel] FEM}, right = 2pt of mechanical] (fem) {};
\node[myblock, fill=lightred, label={[mylabel] Test Benches}, right = 3 of model.east] (testbenches) {};
\node[myblock, fill=lightred, label={[mylabel] Assembly}, above = 2pt of testbenches] (mounting) {};
\node[myblock, fill=lightred, label={[mylabel] Implementation}, below = 2pt of testbenches] (implementation) {};
% Text
\node[anchor=south, above, text width=8cm, align=left] at (model.south) {Extensive use of models for:\begin{itemize}[noitemsep,topsep=5pt]\item Extraction of transfer functions \\ \item Choice of control architecture \\ \item Tuning of control laws \\ \item Closed loop simulations \\ \item Noise budgets / Evaluation of performances \\ \item Sensibility to parameters / disturbances\end{itemize}Helpful for proper and predictive design!};
\node[mymodel] at (mustation.south) {Multiple stages \\ Complex dynamics};
\node[mymodel] at (dist.south) {Ground motion \\ Position errors};
\node[mymodel] at (nanohexapod.south) {Different concepts \\ Sensors, Actuators};
\node[mymodel] at (instrumentation.south) {Sensors, Actuators \\ Electronics};
\node[mymodel] at (mechanical.south) {Proper integration \\ Ease of assembly};
\node[mymodel] at (fem.south) {Optimize key parts: \\ Joints, Plates, APA};
\node[mymodel] at (mounting.south) {Struts \\ Nano-Hexapod};
\node[mymodel] at (testbenches.south) {Instrumentation \\ APA, Struts};
\node[mymodel] at (implementation.south) {Control tests \\ $\mu$ Station};
% Links
\draw[->] (dist.east) -- node[above, midway]{{\small Measurements}} node[below,midway]{{\small Spectral Analysis}} (dist.east-|model.west);
\draw[->] (mustation.east) -- node[above, midway]{{\small Measurements}} node[below, midway]{{\small CAD Model}} (mustation.east-|model.west);
\draw[->] ($(nanohexapod.east-|model.west)-(0, 0.15)$) -- node[below, midway]{{\small Optimization}} ($(nanohexapod.east)-(0, 0.15)$);
\draw[<-] ($(nanohexapod.east-|model.west)+(0, 0.15)$) -- node[above, midway]{{\small Model}} ($(nanohexapod.east)+(0, 0.15)$);
\draw[->] ($(fem.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(fem.south)+(0.15,0)$);
\draw[<-] ($(fem.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small Super}\\{\small Element}} ($(fem.south)-(0.15,0)$);
\draw[->] ($(mechanical.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(mechanical.south)+(0.15,0)$);
\draw[<-] ($(mechanical.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small CAD}\\{\small model}} ($(mechanical.south)-(0.15,0)$);
\draw[->] ($(instrumentation.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(instrumentation.south)+(0.15,0)$);
\draw[<-] ($(instrumentation.south|-model.north)-(0.15, 0)$) -- node[left, midway]{{\small Model}} ($(instrumentation.south)-(0.15,0)$);
\draw[->] ($(mounting.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Requirements}} ($(mounting.west)+(0, 0.15)$);
\draw[<-] ($(mounting.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Refinement}} ($(mounting.west)-(0, 0.15)$);
\draw[->] ($(testbenches.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(testbenches.west)+(0, 0.15)$);
\draw[<-] ($(testbenches.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Refinement}} ($(testbenches.west)-(0, 0.15)$);
\draw[->] ($(implementation.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(implementation.west)+(0, 0.15)$);
\draw[<-] ($(implementation.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Refinement}} ($(implementation.west)-(0, 0.15)$);
% Main steps
\node[font=\bfseries, rotate=90, anchor=south, above] (conceptual_phase_node) at (dist.west) {1 - Conceptual Phase};
\node[font=\bfseries, above] (detailed_phase_node) at (mechanical.north) {2 - Detail Design Phase};
\node[font=\bfseries, rotate=-90, anchor=south, above] (implementation_phase_node) at (testbenches.east) {3 - Experimental Phase};
\begin{scope}[on background layer]
\node[fit={(conceptual_phase_node.north|-nanohexapod.north) (mustation.south east)}, fill=lightgreen!50!white, draw, inner sep=2pt] (conceptual_phase) {};
\node[fit={(detailed_phase_node.north-|instrumentation.west) (fem.south east)}, fill=lightyellow!50!white, draw, inner sep=2pt] (detailed_phase) {};
\node[fit={(implementation_phase_node.north|-mounting.north) (implementation.south west)}, fill=lightred!50!white, draw, inner sep=2pt] (implementation_phase) {};
% \node[above left] at (dob.south east) {DOB};
\end{scope}
% Between main steps
\draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Concept Validation}}}] (conceptual_phase.north) to[out=90, in=180] (detailed_phase.west);
\draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Procurement}}}] (detailed_phase.east) to[out=0, in=90] (implementation_phase.north);
% % Inside Model
% \node[inner sep=1pt, outer sep=6pt, anchor=north west, draw, fill=white, thin] (multibodymodel) at ($(model.north west) - (0, 0.5)$)
% {\includegraphics[width=5.6cm]{simscape_nano_hexapod.png}};
% \node[inner sep=1pt, outer sep=6pt, anchor=south west, draw, fill=white, thin] (simscape) at (model.south west)
% {\includegraphics[width=5.6cm]{simscape_picture.jpg}};
% % Feedback Model
% \node[inner sep=3pt, outer sep=6pt, anchor=north east, draw, fill=white, thin] (simscape_sim) at ($(model.north east) - (0, 0.5)$)
% {\includegraphics[width=3.6cm]{simscape_simulations.pdf}};
% % FeedBack
% \node[inner sep=3pt, outer sep=6pt, anchor=south east, draw, fill=white, thin] (feedback) at (model.south east)
% {\includegraphics[width=3.6cm]{classical_feedback_small.pdf}};
\end{tikzpicture}
HAC-LAC Representation (two columns)
\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} }
\begin{tikzpicture}
\node[inner sep=3pt, fill=white, draw] (plant) at (0, 0)
{\includegraphics[width=4.5cm]{nass_concept_schematic.pdf}};
\coordinate[] (outputf) at ($(plant.south east)!0.75!(plant.north east)$);
\coordinate[] (outputx) at ($(plant.south east)!0.25!(plant.north east)$);
\node[block, left=0.6 of plant] (amp) {Amplifier};
\node[DAC, left=0.6 of amp] (dac) {DAC};
\node[ADC] (adc) at ($(plant.north-|dac) + (0, 0.2)$) {ADC};
\node[addb, left=0.6 of dac] (addu) {};
\node[block, above=0.4 of addu] (Kiff) {$\bm{K}_{\mathcal{L}}$};
\node[block, left=0.6 of addu] (Kl) {$\bm{K}_{\mathcal{X}}$};
\node[block, left=0.6 of Kl] (J) {$\bm{J}$};
\node[block, left=0.6 of J] (pos_error) {Pos. Err.};
\draw[->] (outputf) -- ++(0.2, 0)node[branch]{} |- (adc.east);
\draw[->] (outputf) --node[midway, below]{$\bm{\tau}_m$} ++(0.8, 0);
\draw[->] (outputx) -- ++(0.2, 0)node[branch]{} |- ($(plant.south)+(0, -0.2)$) -| (pos_error.south);
\draw[->] (outputx) --node[midway, above]{$\bm{\mathcal{X}}_m$} ++(0.8, 0);
\draw[->] (pos_error.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{X}}$} (J.west);
\draw[->] (J.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{L}}$} (Kl.west);
\draw[->] (Kl.east) -- node[midway, above]{$\bm{u}^\prime$} (addu.west);
\draw[->] (addu.east) -- node[midway, above]{$\bm{u}$} (dac.west);
\draw[->] (dac.east) -- (amp.west);
\draw[->] (amp.east) -- (plant.west);
\draw[->] (adc.west) -| (Kiff.north);
\draw[->] (Kiff.south) -- (addu.north);
\draw[<-] (pos_error.west) -- node[midway, above]{$\bm{r}_\mu$} ++(-0.8, 0);
\end{tikzpicture}
HAC-LAC alternative (one column)
\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} }
\begin{tikzpicture}
% Plant
\node[inner sep=3pt, fill=white, draw] (plant) at (0, 0)
{\includegraphics[width=4cm]{nass_concept_schematic.pdf}};
% Plant outputs
\coordinate[] (outputf) at ($(plant.south east)!0.8!(plant.north east)$);
\coordinate[] (outputx) at ($(plant.south east)!0.2!(plant.north east)$);
% Blocks
\node[addb, left=0.6 of plant] (addu) {};
\node[block, above=0.4 of addu] (Kiff) {$\bm{K}_{\text{\tiny IFF}}$};
\node[block, left=1.0 of addu] (Kl) {$\bm{K}_{\mathcal{L}}$};
\node[block, left=0.6 of Kl] (J) {$\bm{J}$};
\node[addb={+}{}{}{}{-}, left=0.6 of J] (pos_error) {};
% Lines
\draw[->] (outputf) -- ++(0.2, 0)node[below]{$\bm{\tau}$} |- ($(plant.north)+(0, 0.2)$) -| (Kiff.north);
\draw[->] (outputx) -- ++(0.6, 0)node[above]{$\bm{\mathcal{X}}$} |- ($(plant.south)+(0, -0.4)$) -| (pos_error.south);
\draw[->] (pos_error.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{X}}$} (J.west);
\draw[->] (J.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{L}}$} (Kl.west);
\draw[->] (Kl.east) -- node[near start, above]{$\bm{u}^\prime$} (addu.west);
\draw[->] (addu.east) -- node[midway, above]{$\bm{u}$} (plant.west);
\draw[->] (Kiff.south) -- (addu.north);
\draw[<-] (pos_error.west) -- node[midway, above]{$\bm{r}$} ++(-0.6, 0);
% Damped plant
\begin{scope}[on background layer]
\node[fit={(plant.south-|Kiff.west) ($(plant.north east)+(0.2cm,0.2cm)$)}, fill=black!10!white, draw, dashed, inner sep=0.2cm] (damped_plant) {};
\node[above right, align=left] at (damped_plant.south west) {\small Damped\\Plant};
\end{scope}
\end{tikzpicture}
Mass Spring Damper Model
\begin{tikzpicture}
% ====================
% Parameters
% ====================
\def\bracs{0.05} % Brace spacing vertically
\def\brach{-12pt} % Brace shift horizontaly
% ====================
% ====================
% Ground
% ====================
\draw (-0.9, 0) -- (0.9, 0);
\draw[dashed] (0.9, 0) -- ++(0.5, 0);
\draw[->] (1.3, 0) -- ++(0, 0.4) node[right]{$w$};
% ====================
% ====================
% Granite
\begin{scope}[shift={(0, 0)}]
\draw[fill=white] (-0.9, 1.2) rectangle (0.9, 2.0) node[pos=0.5]{$\scriptstyle\text{granite}$};
\draw[spring] (-0.7, 0) -- ++(0, 1.2);
\draw[damper] ( 0, 0) -- ++(0, 1.2);
\draw[dashed] ( 0.9, 2.0) -- ++(2.0, 0) coordinate(xg);
% \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] %
% (-0.9, \bracs) -- ++(0, 2.0) node[midway,rotate=90,anchor=south,yshift=10pt]{Granite};
\end{scope}
% ====================
% ====================
% Stages
\begin{scope}[shift={(0, 2.0)}]
\draw[fill=white] (-0.9, 1.2) rectangle (0.9, 2.0) node[pos=0.5]{$\scriptstyle\mu\text{-station}$};
\draw[spring] (-0.7, 0) -- ++(0, 1.2);
\draw[damper] ( 0, 0) -- ++(0, 1.2);
\draw[actuator] ( 0.7, 0) -- ++(0, 1.2) node[midway, right=0.1](ft){$f_t$};
% \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] %
% (-0.9, \bracs) -- ++(0, 2.0) node[midway,rotate=90,anchor=south,yshift=10pt]{$\mu\text{-station}$};
\end{scope}
% ====================
% ====================
% NASS
\begin{scope}[shift={(0, 4.0)}]
\draw[fill=white] (-0.9, 1.5) rectangle (0.9, 2.3) node[pos=0.5]{$\scriptstyle\nu\text{-hexapod}$};
\draw[dashed] (0.9, 2.3) -- ++(2.0, 0) coordinate(xnpos);
\draw[spring] (-0.7, 0) -- ++(0, 1.2) node[midway, left=0.1]{};
\draw[damper] ( 0, 0) -- ++(0, 1.2) node[midway, left=0.2]{};
\draw[actuator] ( 0.7, 0) -- ++(0, 1.2) coordinate[midway, below right=0.2 and 0.1](f);
\node[forcesensor={1.8}{0.3}] (fsensn) at (0, 1.2){};
% \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] %
% (-0.9, \bracs) -- ++(0, 2.2) node[midway,rotate=90,anchor=south,yshift=10pt]{$\nu\text{-hexapod}$};
\end{scope}
% ====================
% ====================
% Measured Displacement
\draw[<->, dashed] ($(xg)+(-0.1, 0)$) node[above left](d){$d$} -- ($(xnpos)+(-0.1, 0)$);
% ====================
% ====================
% IFF Control
\node[block={2em}{1.5em}, right=0.6 of fsensn] (iff) {$K_{\scriptscriptstyle IFF}$};
\node[addb] (ctrladd) at (f-|iff) {};
\node[block={2em}{1.5em}, below=0.6 of ctrladd] (ctrl) {$K_{X}$};
\draw[->] (fsensn.east) -- node[midway, above]{$\tau_m$} (iff.west);
\draw[->] (iff.south) -- (ctrladd.north);
\draw[->] (ctrladd.west) -- (f.east) node[above right]{$u$};
\draw[->] (d.west) -| (ctrl.south);
\draw[->] (ctrl.north) -- (ctrladd.south);
% ====================
\end{tikzpicture}