Update few notes

2020-04-29 14:36:36 +02:00
parent 8633c0c130
commit c4c19e5f99
16 changed files with 303 additions and 146 deletions
--- a/content/zettels/hac_hac.md
+++ b/content/zettels/hac_hac.md
@@ -0,0 +1,25 @@
+++
+title = "HAC-HAC"
+author = ["Thomas Dehaeze"]
+draft = false
+++
+
+Tags
+:
+
+High-Authority Control/Low-Authority Control
+
+From <sup id="454500a3af67ef66a7a754d1f2e1bd4a"><a href="#preumont18_vibrat_contr_activ_struc_fourt_edition" title="Andre Preumont, Vibration Control of Active Structures - Fourth Edition, Springer International Publishing (2018).">(Andre Preumont, 2018)</a></sup>:
+
+> The HAC/LAC approach consist of combining the two approached in a dual-loop control as shown in Figure [1](#org2e37874). The inner loop uses a set of collocated actuator/sensor pairs for decentralized active damping with guaranteed stability ; the outer loop consists of a non-collocated HAC based on a model of the actively damped structure. This approach has the following advantages:
+>
+> -   The active damping extends outside the bandwidth of the HAC and reduces the settling time of the modes which are outsite the bandwidth
+> -   The active damping makes it easier to gain-stabilize the modes outside the bandwidth of the output loop (improved gain margin)
+> -   The larger damping of the modes within the controller bandwidth makes them more robust to the parmetric uncertainty (improved phase margin)
+
+<a id="org2e37874"></a>
+
+{{< figure src="/ox-hugo/hac_lac_control_architecture.png" caption="Figure 1: HAC-LAC Control Architecture" >}}
+
+# Bibliography
+<a id="preumont18_vibrat_contr_activ_struc_fourt_edition"></a>Preumont, A., *Vibration control of active structures - fourth edition* (2018), : Springer International Publishing. [↩](#454500a3af67ef66a7a754d1f2e1bd4a)
--- a/content/zettels/multivariable_control.md
+++ b/content/zettels/multivariable_control.md
@@ -12,8 +12,8 @@ Tags

 ## Backlinks {#backlinks}

-   [Multivariable feedback control: analysis and design]({{< relref "skogestad07_multiv_feedb_contr" >}})
-   [Multivariable control systems: an engineering approach]({{< relref "albertos04_multiv_contr_system" >}})
 -   [Position control in lithographic equipment]({{< relref "butler11_posit_contr_lithog_equip" >}})
 -   [Implementation challenges for multivariable control: what you did not learn in school!]({{< relref "garg07_implem_chall_multiv_contr" >}})
 -   [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
+-   [Multivariable control systems: an engineering approach]({{< relref "albertos04_multiv_contr_system" >}})
+-   [Multivariable feedback control: analysis and design]({{< relref "skogestad07_multiv_feedb_contr" >}})
--- a/content/zettels/position_sensors.md
+++ b/content/zettels/position_sensors.md
@@ -17,13 +17,37 @@ Tags

 ## Relative Position Sensors {#relative-position-sensors}

-<a id="orgf9f8137"></a>
+<a id="table--tab:characteristics-relative-sensor"></a>
+<div class="table-caption">
+  <span class="table-number"><a href="#table--tab:characteristics-relative-sensor">Table 1</a></span>:
+  Characteristics of relative measurement sensors <a class='org-ref-reference' href="#collette11_review">collette11_review</a>
+</div>

-{{< figure src="/ox-hugo/position_sensor_characteristics_relative_sensor.png" caption="Figure 1: Characteristics of relative measurement sensors <sup id=\"642a18d86de4e062c6afb0f5f20501c4\"><a href=\"#collette11_review\" title=\"Collette, Artoos, Guinchard, Janssens, , Carmona Fernandez \&amp; Hauviller, Review of sensors for low frequency seismic vibration  measurement, cern, (2011).\">(Collette {\it et al.}, 2011)</a></sup>" >}}
+| Technology     | Frequency (Hz)             | Resolution [nm rms] | Range                    | Temperature Range [\\(^o \degree C\\)] |
+|----------------|----------------------------|---------------------|--------------------------|----------------------------------------|
+| LVDT           | \\(\text{DC}-200\,[Hz]\\)  | 10                  | \\(1-10\,[mm]\\)         | -50,100                                |
+| Eddy current   | \\(5\,[kHz]\\)             | 0.1-100             | \\(0.5-55\,[mm]\\)       | -50,100                                |
+| Capacitive     | \\(\text{DC}-100\,[kHz]\\) | 0.05-50             | \\(50\,[nm] - 1\,[cm]\\) | -40,100                                |
+| Interferometer | \\(300\,[kHz]\\)           | 0.1                 | \\(10\,[cm]\\)           | -250,100                               |
+| Encoder        | \\(\text{DC}-1\,[MHz]\\)   | 1                   | \\(7-27\,[mm]\\)         | 0,40                                   |
+| Bragg Fibers   | \\(\text{DC}-150\,[Hz]\\)  | 0.3                 | \\(3.5\,[cm]\\)          | -30,80                                 |

-<a id="org4ac51f1"></a>
+<a id="table--tab:summary-position-sensors"></a>
+<div class="table-caption">
+  <span class="table-number"><a href="#table--tab:summary-position-sensors">Table 2</a></span>:
+  Summary of position sensor characteristics. The dynamic range (DNR) and resolution are approximations based on a full-scale range of \(100\,\mu m\) and a first order bandwidth of \(1\,kHz\) <a class='org-ref-reference' href="#fleming13_review_nanom_resol_posit_sensor">fleming13_review_nanom_resol_posit_sensor</a> (<a href="fleming13_review_nanom_resol_posit_sensor.html">notes</a>)
+</div>

-{{< figure src="/ox-hugo/position_sensor_characteristics.png" caption="Figure 2: Position sensor characteristics <sup id=\"3fb5b61524290e36d639a4fac65703d0\"><a href=\"#fleming13_review_nanom_resol_posit_sensor\" title=\"Andrew Fleming, A Review of Nanometer Resolution Position Sensors:  Operation and Performance, {Sensors and Actuators A: Physical}, v(nil), 106-126 (2013).\">(Andrew Fleming, 2013)</a></sup>" >}}
+| Sensor Type    | Range                            | DNR     | Resolution | Max. BW  | Accuracy  |
+|----------------|----------------------------------|---------|------------|----------|-----------|
+| Metal foil     | \\(10-500\,\mu m\\)              | 230 ppm | 23 nm      | 1-10 kHz | 1% FSR    |
+| Piezoresistive | \\(1-500\,\mu m\\)               | 5 ppm   | 0.5 nm     | >100 kHz | 1% FSR    |
+| Capacitive     | \\(10\,\mu m\\) to \\(10\,mm\\)  | 24 ppm  | 2.4 nm     | 100 kHz  | 0.1% FSR  |
+| Electrothermal | \\(10\,\mu m\\) to \\(1\,mm\\)   | 100 ppm | 10 nm      | 10 kHz   | 1% FSR    |
+| Eddy current   | \\(100\,\mu m\\) to \\(80\,mm\\) | 10 ppm  | 1 nm       | 40 kHz   | 0.1% FSR  |
+| LVDT           | \\(0.5-500\,mm\\)                | 10 ppm  | 5 nm       | 1 kHz    | 0.25% FSR |
+| Interferometer | Meters                           |         | 0.5 nm     | >100kHz  | 1 ppm FSR |
+| Encoder        | Meters                           |         | 6 nm       | >100kHz  | 5 ppm FSR |


 ### Strain Gauge {#strain-gauge}
@@ -74,7 +98,7 @@ Description:
 | Keysight | [link](https://www.keysight.com/en/pc-1000000393%3Aepsg%3Apgr/laser-heads?nid=-536900395.0&cc=FR&lc=fre) |

 <div class="table-caption">
-  <span class="table-number">Table 1</span>:
+  <span class="table-number">Table 3</span>:
  Characteristics of Environmental Units
 </div>

@@ -84,13 +108,13 @@ Description:
 | Renishaw  | 0.2                          | 1                         | 6                         | 1                                           |
 | Picoscale | 0.2                          | 2                         | 2                         | 1                                           |

-Figure [3](#orgce716a4) is taken from
+Figure [1](#org1c8180d) is taken from
 <sup id="7658b1219a4458a62ae8c6f51b767542"><a href="#jang17_compen_refrac_index_air_laser" title="Yoon-Soo Jang \&amp; Seung-Woo Kim, Compensation of the Refractive Index of Air in Laser  Interferometer for Distance Measurement: a Review, {International Journal of Precision Engineering and
                  Manufacturing}, v(12), 1881-1890 (2017).">(Yoon-Soo Jang \& Seung-Woo Kim, 2017)</a></sup>.

-<a id="orgce716a4"></a>
+<a id="org1c8180d"></a>

-{{< figure src="/ox-hugo/position_sensor_interferometer_precision.png" caption="Figure 3: Expected precision of interferometer as a function of measured distance" >}}
+{{< figure src="/ox-hugo/position_sensor_interferometer_precision.png" caption="Figure 1: Expected precision of interferometer as a function of measured distance" >}}


 ### Fiber Optic Displacement Sensor {#fiber-optic-displacement-sensor}
@@ -111,5 +135,5 @@ Figure [3](#orgce716a4) is taken from

 ## Backlinks {#backlinks}

-   [A review of nanometer resolution position sensors: operation and performance]({{< relref "fleming13_review_nanom_resol_posit_sensor" >}})
 -   [Measurement technologies for precision positioning]({{< relref "gao15_measur_techn_precis_posit" >}})
+-   [A review of nanometer resolution position sensors: operation and performance]({{< relref "fleming13_review_nanom_resol_posit_sensor" >}})
--- a/content/zettels/reference_books.md
+++ b/content/zettels/reference_books.md
@@ -12,9 +12,9 @@ Tags

 ## Backlinks {#backlinks}

-   [Multivariable feedback control: analysis and design]({{< relref "skogestad07_multiv_feedb_contr" >}})
-   [The design of high performance mechatronics - 2nd revised edition]({{< relref "schmidt14_desig_high_perfor_mechat_revis_edition" >}})
-   [Parallel robots : mechanics and control]({{< relref "taghirad13_paral" >}})
 -   [Modal testing: theory, practice and application]({{< relref "ewins00_modal" >}})
 -   [The art of electronics - third edition]({{< relref "horowitz15_art_of_elect_third_edition" >}})
 -   [Vibration Control of Active Structures - Fourth Edition]({{< relref "preumont18_vibrat_contr_activ_struc_fourt_edition" >}})
+-   [Parallel robots : mechanics and control]({{< relref "taghirad13_paral" >}})
+-   [The design of high performance mechatronics - 2nd revised edition]({{< relref "schmidt14_desig_high_perfor_mechat_revis_edition" >}})
+-   [Multivariable feedback control: analysis and design]({{< relref "skogestad07_multiv_feedb_contr" >}})