diff --git a/content/article/mcinroy99_dynam.md b/content/article/mcinroy99_dynam.md index 24b90c6..a5251d0 100644 --- a/content/article/mcinroy99_dynam.md +++ b/content/article/mcinroy99_dynam.md @@ -53,7 +53,7 @@ In order to provide low frequency passive vibration isolation, the hard actuator
Table 1: - Definition of quantities on 2 + Definition of quantities on 2
| **Symbol** | **Meaning** | diff --git a/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md b/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md index b04fc25..2a717a6 100644 --- a/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md +++ b/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md @@ -454,7 +454,7 @@ The core of the control system is the _plant_, which is the physical system that
Table 3: - Symbols used in 3 + Symbols used in 3
| Symbol | Meaning | Unit | diff --git a/content/websites/data_driven_dynamical_systems_with_machine_learning.md b/content/websites/data_driven_dynamical_systems_with_machine_learning.md index 93dfa4f..29d15d7 100644 --- a/content/websites/data_driven_dynamical_systems_with_machine_learning.md +++ b/content/websites/data_driven_dynamical_systems_with_machine_learning.md @@ -179,9 +179,3 @@ Use powerful optimization techniques from machine learning to learn what are goo ### Applications {#applications} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/acquisition_systems.md b/content/zettels/acquisition_systems.md index c33a59e..8c0375e 100644 --- a/content/zettels/acquisition_systems.md +++ b/content/zettels/acquisition_systems.md @@ -20,9 +20,3 @@ Tags | [Oros](https://www.oros.com/) | France | | [National Instruments](https://www.ni.com/fr-fr/shop/pc-based-measurement-and-control-system.html) | USA | | [Gantner](https://www.gantner-instruments.com/products/daq-systems/) | Austria | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/active_damping.md b/content/zettels/active_damping.md index f8f012a..f663ed2 100644 --- a/content/zettels/active_damping.md +++ b/content/zettels/active_damping.md @@ -17,6 +17,3 @@ There are two main control architecture to actively damp structures: The idea is to apply a force proportional to the velocity (either relative or inertial) of the structure. These are usually applied in a collocated way, meaning that the actuator and sensors are collocated (fixed to the same DoF), in order to have guaranteed stability. - - -## Bibliography {#bibliography} diff --git a/content/zettels/active_isolation_platforms.md b/content/zettels/active_isolation_platforms.md index 8b99e12..0d64fa8 100644 --- a/content/zettels/active_isolation_platforms.md +++ b/content/zettels/active_isolation_platforms.md @@ -31,9 +31,3 @@ Tags | Manufacturer | links | Country | |--------------|----------------------------------|---------| | ACE | [link](https://www.ace-ace.com/) | Germany | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/air_bearing.md b/content/zettels/air_bearing.md index 6d5ca0a..fa91e2e 100644 --- a/content/zettels/air_bearing.md +++ b/content/zettels/air_bearing.md @@ -68,9 +68,3 @@ Due to the porous nature, even if some of the holes become clogged or damaged, t ## Spindle Air Bearing {#spindle-air-bearing} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/anti_windup_control.md b/content/zettels/anti_windup_control.md index a79993f..a71c34b 100644 --- a/content/zettels/anti_windup_control.md +++ b/content/zettels/anti_windup_control.md @@ -22,16 +22,16 @@ In order to implement anti-windup, the integrator usually has to be **explicit** This is one of the reasons why the PID controller is so useful: the integral action is clearly separated from the other terms. -### Anti-windup strategies {#anti-windup-strategies} +## Anti-windup strategies {#anti-windup-strategies} -#### Conditional integration (integrator clamping) {#conditional-integration--integrator-clamping} +### Conditional integration (integrator clamping) {#conditional-integration--integrator-clamping} The integrator is simply stopped (or reset) when the actuator is saturated. For instance, the integration is frozen as long as \\(u \neq \text{sat}(u)\\), possibly only if the error would further increase the saturation (i.e. same sign of \\(u\\) and \\(e\\)). -#### Back-calculation {#back-calculation} +### Back-calculation {#back-calculation} The difference between the saturated and the requested control signal, \\(e\_s = \text{sat}(u) - u\\), is fed back to the integrator input through a gain \\(1/T\_t\\): @@ -42,9 +42,3 @@ The difference between the saturated and the requested control signal, \\(e\_s = When there is no saturation, \\(e\_s = 0\\) and the controller behaves as usual. When saturated, the integrator state is driven so that \\(u\\) tracks the saturation limit. The tracking time constant \\(T\_t\\) sets how fast the integrator is unwound (a common choice is \\(T\_t = \sqrt{T\_i T\_d}\\) or \\(T\_t = T\_i\\)). - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/bipolar_transistor.md b/content/zettels/bipolar_transistor.md index 8375a37..5ea4b04 100644 --- a/content/zettels/bipolar_transistor.md +++ b/content/zettels/bipolar_transistor.md @@ -11,9 +11,3 @@ Tags {{< figure src="/ox-hugo/bipolar_transistor_basic_circuits.svg" caption="Figure 1: 5 basic circuits using the bipolar transistor" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/brushless_dc_motor.md b/content/zettels/brushless_dc_motor.md index ec2095a..5c4ef70 100644 --- a/content/zettels/brushless_dc_motor.md +++ b/content/zettels/brushless_dc_motor.md @@ -22,9 +22,3 @@ Tags | [Faulhaber](https://www.faulhaber.com/en/products/brushless-dc-motors/) | | | [Maxon](https://www.maxongroup.com/maxon/view/content/Overview-brushless-DC-motors) | | | [OrientalMotors](https://www.orientalmotor.com/brushless-dc-motors-gear-motors/index.html) | | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/bumpless_transfer.md b/content/zettels/bumpless_transfer.md index 2285fb1..496cf82 100644 --- a/content/zettels/bumpless_transfer.md +++ b/content/zettels/bumpless_transfer.md @@ -36,9 +36,3 @@ If the PID is the last element of the chain, its output is \\(u\\) and the track Filters without integrator (notch, low-pass, lead, lag) have fast dynamics and do not need any tracking. The offline chain is simply run in parallel, fed with the same error signal \\(e\\), and its states converge by themselves. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/cables.md b/content/zettels/cables.md index 17e9679..76d07fb 100644 --- a/content/zettels/cables.md +++ b/content/zettels/cables.md @@ -37,9 +37,3 @@ Tags - - - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/capacitive_sensors.md b/content/zettels/capacitive_sensors.md index 1c342c5..6f4b42c 100644 --- a/content/zettels/capacitive_sensors.md +++ b/content/zettels/capacitive_sensors.md @@ -40,9 +40,3 @@ Tags | Micro-Epsilon DL6230 | 0.005% (5kHz) | 0.000070 | 0.05% | | Lion CPL290 | 0.003% (15kHz) | 0.000025 | <0.2% | | PI | 0.002% (3kHz) | 0.000036 | <0.1 | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/cia402.md b/content/zettels/cia402.md index b2086c8..479952a 100644 --- a/content/zettels/cia402.md +++ b/content/zettels/cia402.md @@ -32,9 +32,3 @@ It was defined for CANopen and is also used over EtherCAT (CoE, CANopen over Eth - In CSP, the drive internal loop still does the actual control, the master only provides setpoints. - A generic CiA 402 block can be reused across compatible drives. The ESI file, PDO mapping, units, optional objects and vendor quirks are still drive specific. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/communication_protocol.md b/content/zettels/communication_protocol.md index b1ca36c..f23b03f 100644 --- a/content/zettels/communication_protocol.md +++ b/content/zettels/communication_protocol.md @@ -45,9 +45,3 @@ ASCII ### EtherCAT {#ethercat} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/connectors.md b/content/zettels/connectors.md index 79f8eba..b2dac3d 100644 --- a/content/zettels/connectors.md +++ b/content/zettels/connectors.md @@ -26,9 +26,3 @@ BNC connectors can have an impedance of 50Ohms or 75Ohms as shown in [Figure 1]( {{< figure src="/ox-hugo/bnc_50_75_ohms.jpg" caption="Figure 1: 75Ohms and 50Ohms BNC connectors" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/continuous_transfer_functions.md b/content/zettels/continuous_transfer_functions.md index c8d2397..6c5e58e 100644 --- a/content/zettels/continuous_transfer_functions.md +++ b/content/zettels/continuous_transfer_functions.md @@ -244,9 +244,3 @@ H = a*(1 + s/(wc*sqrt(a)))/(1 + s/(wc/sqrt(a))); {{< figure src="/ox-hugo/filter_lag.png" caption="Figure 9: Lag filter, effect of the parameter \\(a\\)" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/decoupled_control.md b/content/zettels/decoupled_control.md index eea8474..e05f522 100644 --- a/content/zettels/decoupled_control.md +++ b/content/zettels/decoupled_control.md @@ -90,9 +90,3 @@ At higher frequency, the inertia becomes important and the system is coupled: us {{< figure src="/ox-hugo/decoupled_control_high_freq_act_1.gif" caption="Figure 6: Left actuator at 1 Hz (above the suspension modes): the system is coupled, the body translates and rotates" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/differential_pairs.md b/content/zettels/differential_pairs.md index 9bc8247..4bc0b14 100644 --- a/content/zettels/differential_pairs.md +++ b/content/zettels/differential_pairs.md @@ -14,9 +14,3 @@ Tags > One of the main reasons that differential pairs are used whether is between systems, whether is between boards and a system, or whether is across a circuit board, is so that the circuit will ignore offset in ground. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/digital_filters.md b/content/zettels/digital_filters.md index c79ada8..38ece08 100644 --- a/content/zettels/digital_filters.md +++ b/content/zettels/digital_filters.md @@ -83,9 +83,3 @@ By developing the relation and using the fact that \\(z^{-1} x[n] = x[n-1]\\), w y[n] &= a (x[n] + x[n-1]) + b y[n-1] \\\\ &= \left( \frac{2}{T\_s \omega\_0} + 1 \right) (x[n] + x[n-1]) + \left(\frac{2}{T\_s\omega\_0} - 1\right) y[n-1] \end{align} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/digital_to_analog_converters.md b/content/zettels/digital_to_analog_converters.md index 6fce9ff..a41c587 100644 --- a/content/zettels/digital_to_analog_converters.md +++ b/content/zettels/digital_to_analog_converters.md @@ -8,9 +8,3 @@ subcategory = "Conversion and Acquisition" Tags : [Electronics]({{< relref "electronics.md" >}}) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/direct_velocity_feedback.md b/content/zettels/direct_velocity_feedback.md index 2540f2a..e766ab6 100644 --- a/content/zettels/direct_velocity_feedback.md +++ b/content/zettels/direct_velocity_feedback.md @@ -8,9 +8,3 @@ subcategory = "Vibration Control" Tags : [Active Damping]({{< relref "active_damping.md" >}}) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/discrete_transfer_functions.md b/content/zettels/discrete_transfer_functions.md index d3e9fff..834fd3c 100644 --- a/content/zettels/discrete_transfer_functions.md +++ b/content/zettels/discrete_transfer_functions.md @@ -44,20 +44,20 @@ The Matlab [Symbolic Toolbox](https://fr.mathworks.com/help/symbolic/) can be us Let's consider a notch filter: \begin{equation} - G(s) = \frac{s^2 + 2 g\_c \xi \omega\_n s + \omega\_n^2}{s^2 + 2 \xi \omega\_n s + \omega\_n^2} + G(s) = \frac{s^2 + 2 g\_c \zeta \omega\_n s + \omega\_n^2}{s^2 + 2 \zeta \omega\_n s + \omega\_n^2} \end{equation} with: - \\(\omega\_n\\): frequency of the notch - \\(g\_c\\): gain at the notch frequency -- \\(\xi\\): damping ratio (notch width) +- \\(\zeta\\): damping ratio (notch width) First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable). ```matlab %% Declaration of the symbolic variables -syms gc wn xi Ts s z +syms gc wn zeta Ts s z ``` Then the bi-linear transformation is performed to go from continuous to discrete: @@ -71,7 +71,7 @@ The symbolic formula of the notch filter is defined: ```matlab %% Notch Filter - Symbolic representation -Ga = (s^2 + 2*xi*gc*s*wn + wn^2)/(s^2 + 2*xi*s*wn + wn^2); +Ga = (s^2 + 2*zeta*gc*s*wn + wn^2)/(s^2 + 2*zeta*s*wn + wn^2); ``` Finally, the numerator and denominator coefficients can be extracted: @@ -90,7 +90,7 @@ org_babel_eoe ``` ```text -den = (Ts^2*wn^2 - 4*Ts*wn*xi + 4) + (2*Ts^2*wn^2 - 8) * z + (Ts^2*wn^2 + 4*Ts*wn*xi + 4) * z^2 +den = (Ts^2*wn^2 - 4*Ts*wn*zeta + 4) + (2*Ts^2*wn^2 - 8) * z + (Ts^2*wn^2 + 4*Ts*wn*zeta + 4) * z^2 ``` @@ -99,19 +99,19 @@ den = (Ts^2*wn^2 - 4*Ts*wn*xi + 4) + (2*Ts^2*wn^2 - 8) * z + (Ts^2*wn^2 + 4*Ts*w Let's consider a second order low pass filter: \begin{equation} - G(s) = \frac{1}{1 + 2 \xi \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}} + G(s) = \frac{1}{1 + 2 \zeta \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}} \end{equation} with: - \\(\omega\_n\\): Cut off frequency -- \\(\xi\\): damping ratio +- \\(\zeta\\): damping ratio First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable). ```matlab %% Declaration of the symbolic variables -syms wn xi Ts s z +syms wn zeta Ts s z ``` Then the bi-linear transformation is performed to go from continuous to discrete: @@ -125,7 +125,7 @@ The symbolic formula of the notch filter is defined: ```matlab %% Second Order Low Pass Filter - Symbolic representation -Ga = 1/(1 + 2*xi*s/wn + s^2/wn^2); +Ga = 1/(1 + 2*zeta*s/wn + s^2/wn^2); ``` Finally, the numerator and denominator coefficients can be extracted: @@ -140,7 +140,7 @@ den = coeffs(D, z); ``` ```text -gain = 1/(Ts^2*wn^2 + 4*Ts*wn*xi + 4) +gain = 1/(Ts^2*wn^2 + 4*Ts*wn*zeta + 4) ``` ```text @@ -148,7 +148,7 @@ num = (Ts^2*wn^2) + (2*Ts^2*wn^2) * z^-1 + (Ts^2*wn^2) * z^-2 ``` ```text -den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*xi + 4) * z^-2 +den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*zeta + 4) * z^-2 ``` And the transfer function is equal to `gain * num/den`. @@ -214,19 +214,19 @@ And the transfer function is equal to `gain * num/den`. Let's consider a second order low pass filter: \begin{equation} - G(s) = \frac{1}{1 + 2 \xi \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}} + G(s) = \frac{1}{1 + 2 \zeta \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}} \end{equation} with: - \\(\omega\_n\\): Cut off frequency -- \\(\xi\\): damping ratio +- \\(\zeta\\): damping ratio First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable). ```matlab %% Declaration of the symbolic variables -syms wn xi Ts s z +syms wn zeta Ts s z ``` Then the bi-linear transformation is performed to go from continuous to discrete: @@ -240,7 +240,7 @@ The symbolic formula of the notch filter is defined: ```matlab %% Second Order Low Pass Filter - Symbolic representation -Ga = (s^2/wn^2)/(1 + 2*xi*s/wn + s^2/wn^2); +Ga = (s^2/wn^2)/(1 + 2*zeta*s/wn + s^2/wn^2); ``` Finally, the numerator and denominator coefficients can be extracted: @@ -255,7 +255,7 @@ den = coeffs(D, z); ``` ```text -gain = 1/(Ts^2*wn^2 + 4*Ts*wn*xi + 4) +gain = 1/(Ts^2*wn^2 + 4*Ts*wn*zeta + 4) ``` ```text @@ -263,7 +263,7 @@ num = (4) + (-8) * z^-1 + (4) * z^-2 ``` ```text -den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*xi + 4) * z^-2 +den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*zeta + 4) * z^-2 ``` And the transfer function is equal to `gain * num/den`. @@ -309,9 +309,3 @@ The coefficients are simply computed with a Matlab function. ### Moving Average {#moving-average} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/eddy_current_sensors.md b/content/zettels/eddy_current_sensors.md index fb0329c..dac4c78 100644 --- a/content/zettels/eddy_current_sensors.md +++ b/content/zettels/eddy_current_sensors.md @@ -20,9 +20,3 @@ Tags | [Kaman](https://www.kamansensors.com/product/smt-9700/) | USA | | [Keyence](https://www.keyence.com/ss/products/measure/measurement_library/type/inductive/) | USA | | [Althen](https://www.althensensors.com/sensors/linear-position-sensors/eddy-current-sensors/) | Netherlands | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/electrical_impedance.md b/content/zettels/electrical_impedance.md index 0535350..aba4eb8 100644 --- a/content/zettels/electrical_impedance.md +++ b/content/zettels/electrical_impedance.md @@ -17,9 +17,3 @@ Tags ## LCR Meter {#lcr-meter} - - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/electromagnetism.md b/content/zettels/electromagnetism.md index f1c091d..2d65b66 100644 --- a/content/zettels/electromagnetism.md +++ b/content/zettels/electromagnetism.md @@ -42,9 +42,3 @@ This is a voltage source (EMF), where the current is driven in the direction of \end{equation} The line integral of the magnetic field over a closed loop L is proportional to the current through the surface S enclosed by the loop L. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/electronic_active_filters.md b/content/zettels/electronic_active_filters.md index 9688001..82be1a0 100644 --- a/content/zettels/electronic_active_filters.md +++ b/content/zettels/electronic_active_filters.md @@ -48,9 +48,3 @@ With: ## PID controller {#pid-controller} See [The design of high performance mechatronics - third revised edition]({{< relref "schmidt20_desig_high_perfor_mechat_third_revis_edition.md" >}}) (Chapter 6.2.6). - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/electronic_noise.md b/content/zettels/electronic_noise.md index afe6005..1c77f19 100644 --- a/content/zettels/electronic_noise.md +++ b/content/zettels/electronic_noise.md @@ -70,9 +70,3 @@ The identification of this noise is a two steps process: The output noise is measured and \\(V^2\\) in \\([V^2/Hz]\\) is identified 2. The amplifier input is open-circuited such that only \\(I^2(f)\\) has an impact on the output. The output noise is measured and \\(I^2(f)\\) in \\([A^2/Hz]\\) is identified. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/electronic_passive_filters.md b/content/zettels/electronic_passive_filters.md index 5c56373..42b9016 100644 --- a/content/zettels/electronic_passive_filters.md +++ b/content/zettels/electronic_passive_filters.md @@ -105,9 +105,3 @@ Z = L*s + (R)/(1 + R*C*s); % Filter Impedance {{< figure src="/ox-hugo/analog_filt_second_order_hpf.png" caption="Figure 7: Second Order High Pass Filter using an RLC circuit" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/electronics.md b/content/zettels/electronics.md index fcf3cc8..05e98a7 100644 --- a/content/zettels/electronics.md +++ b/content/zettels/electronics.md @@ -7,9 +7,3 @@ category = "Electronics" Tags : - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/encoders.md b/content/zettels/encoders.md index 4972cb1..44af02b 100644 --- a/content/zettels/encoders.md +++ b/content/zettels/encoders.md @@ -41,9 +41,3 @@ Absolute: - No problem of "missed" steps - May add some delay - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/feedback_control.md b/content/zettels/feedback_control.md index 2f1b403..3f7451f 100644 --- a/content/zettels/feedback_control.md +++ b/content/zettels/feedback_control.md @@ -8,6 +8,3 @@ subcategory = "Fundamentals" Tags : - -
-
diff --git a/content/zettels/fractional_order_transfer_functions.md b/content/zettels/fractional_order_transfer_functions.md index e76b15f..1be89c5 100644 --- a/content/zettels/fractional_order_transfer_functions.md +++ b/content/zettels/fractional_order_transfer_functions.md @@ -43,9 +43,3 @@ Few examples of different slopes are shown in [Figure 1](#figure--fig:approximat {{< figure src="/ox-hugo/approximate_deriv_int.png" caption="Figure 1: Example of fractional approximations" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/granite.md b/content/zettels/granite.md index abff0f4..e4f02dd 100644 --- a/content/zettels/granite.md +++ b/content/zettels/granite.md @@ -17,9 +17,3 @@ Tags | [Microplan](https://www.microplan-group.com/fr/) | France | | [Zali](http://zali-precision.it/en/products/) | Italy | | [Mytri](https://www.mytri.nl/en) | Netherlands | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/h_infinity_control.md b/content/zettels/h_infinity_control.md index c1c5d06..f720b27 100644 --- a/content/zettels/h_infinity_control.md +++ b/content/zettels/h_infinity_control.md @@ -17,9 +17,3 @@ From _Rosenbrock, H. H. (1974). Computer-Aided Control System Design, Academic P > Solutions are constrained by so many requirements that it is virtually impossible to list them all. > The designer finds himself threading a maze of such requirements, attempting to reconcile conflicting demands of cost, performance, easy maintenance, and so on. > A good design usually has strong aesthetic appeal to those who are competent in the subject. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/heat_transfer.md b/content/zettels/heat_transfer.md index 26f7ffb..b6c28ab 100644 --- a/content/zettels/heat_transfer.md +++ b/content/zettels/heat_transfer.md @@ -208,9 +208,3 @@ with: - \\(Q\\) the heat in [W] - \\(R\_T\\) the thermal resistance in \\([K/W]\\) - \\(C\_T\\) the thermal conductance in \\([W/K]\\) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/icepap.md b/content/zettels/icepap.md index 65f5312..99c1cd4 100644 --- a/content/zettels/icepap.md +++ b/content/zettels/icepap.md @@ -18,9 +18,3 @@ Tags To get the status of one axis: `5:?vstatus` (`5` is the axis index). Then, if there is some warning, to get more information, use `5:?warning`. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/instrumented_hammer.md b/content/zettels/instrumented_hammer.md index 63ef1e5..6299165 100644 --- a/content/zettels/instrumented_hammer.md +++ b/content/zettels/instrumented_hammer.md @@ -19,9 +19,3 @@ And instrumented hammer consist of a regular hammer with a force sensor fixed at | [PCB](https://www.pcb.com/sensors-for-test-measurement/impact-hammers-electrodynamic-shakers/impact-hammers) | USA | | [DJB](https://www.djbinstruments.com/products/instrumentation/impact-hammers) | UK | | [Dewesoft](https://dewesoft.com/fr/products/interfaces-and-sensors/accelerometers-and-modal-hammers) | Slovenia | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/interaction_analysis.md b/content/zettels/interaction_analysis.md index ab9051d..d2277cf 100644 --- a/content/zettels/interaction_analysis.md +++ b/content/zettels/interaction_analysis.md @@ -64,9 +64,3 @@ RGA_number = sum(sum(abs(RGA - eye(size(RGA))))); ``` For a plant evaluated over frequency, this is computed at each frequency point of the frequency response. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/interpolation.md b/content/zettels/interpolation.md index ba8f6d2..b0658ad 100644 --- a/content/zettels/interpolation.md +++ b/content/zettels/interpolation.md @@ -29,9 +29,3 @@ y = sinc(Ts - T)*x; {{< figure src="/ox-hugo/interpolation_perfect_example.png" caption="Figure 1: Sampled and interpolated signals" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/laplace_transform.md b/content/zettels/laplace_transform.md index 0a4433b..06ebd91 100644 --- a/content/zettels/laplace_transform.md +++ b/content/zettels/laplace_transform.md @@ -35,9 +35,3 @@ Laplace transform: ### Electrical System {#electrical-system} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/linear_brushless_motor.md b/content/zettels/linear_brushless_motor.md index b4cb8e8..820cee1 100644 --- a/content/zettels/linear_brushless_motor.md +++ b/content/zettels/linear_brushless_motor.md @@ -55,9 +55,3 @@ Vacuum compatible linear motors: | [Chieftek](http://www.chieftek.com/product-cls.asp) | Taiwan | | [Transtechnik](https://www.transtechnik.fr/range/gamme-de-moteurs-lineaires-avec-mecanique-de-guidage-integree/) | France | | [Monticont](http://www.pwr-con.com/ecommerce/default.asp?cat=Linear+Brushless+Motor+Driven+Stage) | | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/linear_guides.md b/content/zettels/linear_guides.md index b54dadc..ba660a4 100644 --- a/content/zettels/linear_guides.md +++ b/content/zettels/linear_guides.md @@ -24,9 +24,3 @@ Tags {{< figure src="/ox-hugo/linear_bearing_comp.png" caption="Figure 1: Comparison of different linear guides" >}} {{< figure src="/ox-hugo/linear_bearing_cross_section.png" caption="Figure 2: Cross section of considered linear guides" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/linear_variable_differential_transformers.md b/content/zettels/linear_variable_differential_transformers.md index 81fb367..d000b4e 100644 --- a/content/zettels/linear_variable_differential_transformers.md +++ b/content/zettels/linear_variable_differential_transformers.md @@ -17,9 +17,3 @@ Tags | [Micro-Epsilon](https://www.micro-epsilon.com/displacement-position-sensors/inductive-sensor-lvdt/) | Germany | | [Keyence](https://www.keyence.eu/products/measure/contact-distance-lvdt/gt2/index.jsp) | USA | | [Althen](https://www.althensensors.com/sensors/linear-position-sensors/lvdt-sensors/) | Netherlands | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/loop_shaping.md b/content/zettels/loop_shaping.md index 4abdaab..b39c74a 100644 --- a/content/zettels/loop_shaping.md +++ b/content/zettels/loop_shaping.md @@ -16,9 +16,3 @@ Loop Gain Typical wanted loop gain shape Tools for loop-shaping - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/mass_spring_damper_systems.md b/content/zettels/mass_spring_damper_systems.md index 8db0f84..7207622 100644 --- a/content/zettels/mass_spring_damper_systems.md +++ b/content/zettels/mass_spring_damper_systems.md @@ -189,9 +189,3 @@ The transfer functions from \\(F\_2\\) to the mass displacements are shown in [F {{< figure src="/ox-hugo/mass_spring_damper_flex_above.png" caption="Figure 8: 2 DoF Mass Spring Damper system" >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/materials.md b/content/zettels/materials.md index 3883dc1..8478586 100644 --- a/content/zettels/materials.md +++ b/content/zettels/materials.md @@ -23,9 +23,3 @@ Tags | Invar | 148 | 1.3 | 8 | 10.2 | | Stainless Steel | 190 | 10.8 | 8 | 17 | | Titanium | 108 | 8.6 | 4.5 | 16.3 | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/metrology.md b/content/zettels/metrology.md index 82af8a8..fd2c2b1 100644 --- a/content/zettels/metrology.md +++ b/content/zettels/metrology.md @@ -7,9 +7,3 @@ category = "Precision Engineering" Tags : - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/modal_analysis.md b/content/zettels/modal_analysis.md index a1522c8..fcd9006 100644 --- a/content/zettels/modal_analysis.md +++ b/content/zettels/modal_analysis.md @@ -7,9 +7,3 @@ category = "Signals and Systems" Tags : [Inertial Sensors]({{< relref "inertial_sensors.md" >}}), [Shaker]({{< relref "shaker.md" >}}) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/modal_decomposition.md b/content/zettels/modal_decomposition.md index 9ea1b56..6ddcf7a 100644 --- a/content/zettels/modal_decomposition.md +++ b/content/zettels/modal_decomposition.md @@ -7,9 +7,3 @@ category = "Signals and Systems" Tags : [Modal Analysis]({{< relref "modal_analysis.md" >}}) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/motion_control.md b/content/zettels/motion_control.md index 58ae082..f72c91b 100644 --- a/content/zettels/motion_control.md +++ b/content/zettels/motion_control.md @@ -8,9 +8,3 @@ subcategory = "Motion Control" Tags : - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/motor_commutation.md b/content/zettels/motor_commutation.md index 7a1d7c8..811b0a7 100644 --- a/content/zettels/motor_commutation.md +++ b/content/zettels/motor_commutation.md @@ -93,9 +93,3 @@ I\_{q} &= I\_{\beta} \cos(\theta) - I\_{\alpha} \sin(\theta) I\_{\alpha} &= I\_d \cos(\theta) - I\_q \sin(\theta) \\\\ I\_{\beta} &= I\_d \sin(\theta) + I\_q \cos(\theta) \end{align} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/nano_active_stabilization_system.md b/content/zettels/nano_active_stabilization_system.md index f5fdfe1..feccea9 100644 --- a/content/zettels/nano_active_stabilization_system.md +++ b/content/zettels/nano_active_stabilization_system.md @@ -8,9 +8,3 @@ subcategory = "ESRF Specific" Tags : - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/nonlinear_control.md b/content/zettels/nonlinear_control.md index 34c2c96..8070c24 100644 --- a/content/zettels/nonlinear_control.md +++ b/content/zettels/nonlinear_control.md @@ -10,9 +10,3 @@ Tags : Lecture about Nonlinear Systems at MIT ([link](http://web.mit.edu/nsl/www/videos/lectures.html)). - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/nyquist_stability_criterion.md b/content/zettels/nyquist_stability_criterion.md index 9ff05c6..87f7755 100644 --- a/content/zettels/nyquist_stability_criterion.md +++ b/content/zettels/nyquist_stability_criterion.md @@ -67,9 +67,3 @@ end Then, compute the eigenvalues of this open-loop gain: Finally, plot the (complex) eigenvalues in the complex plane: - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/operational_amplifiers.md b/content/zettels/operational_amplifiers.md index 5f552b8..dea7402 100644 --- a/content/zettels/operational_amplifiers.md +++ b/content/zettels/operational_amplifiers.md @@ -12,9 +12,3 @@ Tags ## Defaults of Operational Amplifiers {#defaults-of-operational-amplifiers} {{< youtube nF104EvI0HM >}} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/optical_fibers.md b/content/zettels/optical_fibers.md index 3b8d806..0aa3cb8 100644 --- a/content/zettels/optical_fibers.md +++ b/content/zettels/optical_fibers.md @@ -31,9 +31,3 @@ Otherwise, APC connectors are used. ## Multi-mode and Single-mode fibers {#multi-mode-and-single-mode-fibers} If laser is used (fiber interferometer for instance), a single-mode fiber should be used and the wavelength of the mode should be matched with the wavelength of the laser. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/optics.md b/content/zettels/optics.md index 36d0bc2..258aeed 100644 --- a/content/zettels/optics.md +++ b/content/zettels/optics.md @@ -8,9 +8,3 @@ subcategory = "Optics" Tags : - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/parallel_manipulators.md b/content/zettels/parallel_manipulators.md index b2bc877..cd916c7 100644 --- a/content/zettels/parallel_manipulators.md +++ b/content/zettels/parallel_manipulators.md @@ -7,9 +7,3 @@ category = "Mechanics and Physics" Tags : - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/passive_damping.md b/content/zettels/passive_damping.md index 784b9a7..ed90b50 100644 --- a/content/zettels/passive_damping.md +++ b/content/zettels/passive_damping.md @@ -23,9 +23,3 @@ Vacuum compatible viscoelastic materials: ## [Tuned Mass Damper]({{< relref "tuned_mass_damper.md" >}}) {#tuned-mass-damper--tuned-mass-damper-dot-md} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/permanent_magnets.md b/content/zettels/permanent_magnets.md index 2f40d30..cd695e5 100644 --- a/content/zettels/permanent_magnets.md +++ b/content/zettels/permanent_magnets.md @@ -12,9 +12,3 @@ Tags ## Neodymium Magnets {#neodymium-magnets} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/position_jitter_due_to_asynchronous_acquisition.md b/content/zettels/position_jitter_due_to_asynchronous_acquisition.md index 456cfe1..b408533 100644 --- a/content/zettels/position_jitter_due_to_asynchronous_acquisition.md +++ b/content/zettels/position_jitter_due_to_asynchronous_acquisition.md @@ -142,9 +142,3 @@ Ideally, this is the control system (i.e. where the feedback controller is imple Having a intermediate electronic device (here the PEPU) that triggers the readout of the encoders not in sync with the controller can affect quite negatively the quality of the motion. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/precision_engineering.md b/content/zettels/precision_engineering.md index ebcea3d..95ad264 100644 --- a/content/zettels/precision_engineering.md +++ b/content/zettels/precision_engineering.md @@ -7,9 +7,3 @@ category = "Precision Engineering" Tags : - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/reference_tracking.md b/content/zettels/reference_tracking.md index e48a848..2cd9518 100644 --- a/content/zettels/reference_tracking.md +++ b/content/zettels/reference_tracking.md @@ -44,9 +44,3 @@ y = lsim(T, r, t); % Output The error converges to a constant equal to \\(\frac{r\_v}{\omega\_c} \approx 0.016\\). The output "lags" behind the reference by \\(\frac{1}{\omega\_c}\\) in seconds. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/right_half_plane_zeros.md b/content/zettels/right_half_plane_zeros.md index d21a8a8..4b3dc7c 100644 --- a/content/zettels/right_half_plane_zeros.md +++ b/content/zettels/right_half_plane_zeros.md @@ -22,9 +22,3 @@ Right Half Plane (RHP) Zeros are present in a broad range of systems. - The frequency of the RHP zero should be outside the controller bandwidth. It therefore impose a fundamental limitation to the controller bandwidth. The reason is that inside the control bandwidth, the controller basically inverts the plant, and the inverse of a RHP zero is an unstable pole. - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/rotation_stage.md b/content/zettels/rotation_stage.md index bf74c78..f830bcf 100644 --- a/content/zettels/rotation_stage.md +++ b/content/zettels/rotation_stage.md @@ -77,9 +77,3 @@ Rotation at few degrees per second. ```matlab length(axial_turns)/5 % Number of point per turn ``` - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/sensor_fusion.md b/content/zettels/sensor_fusion.md index 29f6a71..661ec9e 100644 --- a/content/zettels/sensor_fusion.md +++ b/content/zettels/sensor_fusion.md @@ -8,9 +8,3 @@ subcategory = "Sensor and Actuator Fusion" Tags : [Actuator Fusion]({{< relref "actuator_fusion.md" >}}), [Complementary Filters]({{< relref "complementary_filters.md" >}}), [Sensors]({{< relref "sensors.md" >}}) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/sensors.md b/content/zettels/sensors.md index d066b5d..d056ee1 100644 --- a/content/zettels/sensors.md +++ b/content/zettels/sensors.md @@ -14,9 +14,3 @@ Notes about sensors: - [Force Sensors]({{< relref "force_sensors.md" >}}) - [Position Sensors]({{< relref "position_sensors.md" >}}) - [Inertial Sensors]({{< relref "inertial_sensors.md" >}}) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/shaker.md b/content/zettels/shaker.md index 225db56..5ffacda 100644 --- a/content/zettels/shaker.md +++ b/content/zettels/shaker.md @@ -21,9 +21,3 @@ Tags | [YMC](http://www.chinaymc.com/product/showproduct.php?id=78&lang=en) | China | | [Vibration Research](https://vibrationresearch.com/shakers/) | USA | | [Sentek Dynamics](https://www.sentekdynamics.com/) | USA | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/signal_conditioner.md b/content/zettels/signal_conditioner.md index 618b55c..d2891ab 100644 --- a/content/zettels/signal_conditioner.md +++ b/content/zettels/signal_conditioner.md @@ -30,9 +30,3 @@ Depending on the electrical quantity that is meaningful for the measurement, dif - Current to Voltage ([Transimpedance Amplifiers]({{< relref "transimpedance_amplifiers.md" >}})) - Charge to Voltage ([Charge Amplifiers]({{< relref "charge_amplifiers.md" >}})) - Voltage to Voltage ([Voltage Amplifier]({{< relref "voltage_amplifier.md" >}})) - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/simulink.md b/content/zettels/simulink.md index 2a10448..943f0a7 100644 --- a/content/zettels/simulink.md +++ b/content/zettels/simulink.md @@ -42,9 +42,3 @@ Tips: ## Configure Simulink Programmatically {#configure-simulink-programmatically} - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/simulink_real_time_target_machines.md b/content/zettels/simulink_real_time_target_machines.md index 1a1f790..6baf946 100644 --- a/content/zettels/simulink_real_time_target_machines.md +++ b/content/zettels/simulink_real_time_target_machines.md @@ -36,9 +36,3 @@ Comparison | Encoder (quadrature) | 2 | 4 | 4 | 2 | | Sampling Frequency | ? | ? | 1kHz (USB), 15kHz (Serial) | 2kHz | | Price | waiting for quote | 1000 | 900 | 1300 | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/slip_rings.md b/content/zettels/slip_rings.md index 6eb775d..8fc0553 100644 --- a/content/zettels/slip_rings.md +++ b/content/zettels/slip_rings.md @@ -15,9 +15,3 @@ Tags | Manufacturers | Country | |-----------------------------------|---------| | [Moflon](https://www.moflon.com/) | China | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/springs.md b/content/zettels/springs.md index 5cef531..9f588b6 100644 --- a/content/zettels/springs.md +++ b/content/zettels/springs.md @@ -20,9 +20,3 @@ Tags | [Paulstra](https://www.paulstra-industry.com/en/ranges/metal-mountings/v1210) | France | | [Norelem](https://www.norelem.com/us/en/Products/Product-overview/Systems-and-components-for-machine-and-plant-construction/26000-Compression-springs-Elastomer-springs-Rubber-buffers-Shock-absorbers-Gas-springs.html) | France | | [VibraSystems](https://vibrasystems.com/elastomer-and-spring-hangers.html) | USA | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/stewart_platforms.md b/content/zettels/stewart_platforms.md index 8f67749..465b139 100644 --- a/content/zettels/stewart_platforms.md +++ b/content/zettels/stewart_platforms.md @@ -64,111 +64,111 @@ Tags | University | Figure | Configuration | Joints | Actuators | Sensors | Application | Link to bibliography | |----------------|---------------------------------------------|-------------------|-------------|--------------------------|------------------------------------------------------------|------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| JPL | [Figure 5](#figure--fig:stewart-jpl) | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) | | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) Vibration Isolation (Space) | -| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (Thayer and Vagners 1998), (Thayer et al. 2002), (Hauge and Campbell 2004) | -| Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000), (Li, Hamann, and McInroy 2001), (Jafari and McInroy 2003) | -| Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (Abu Hanieh 2003), (Preumont et al. 2007) | -| SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (Taranti, Agrawal, and Cristi 2001) | +| JPL | [Figure 5](#figure--fig:stewart-jpl) | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) | | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) Vibration Isolation (Space) | +| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (Thayer and Vagners 1998), (Thayer et al. 2002), (Hauge and Campbell 2004) | +| Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000), (Li, Hamann, and McInroy 2001), (Jafari and McInroy 2003) | +| Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (Abu Hanieh 2003), (Preumont et al. 2007) | +| SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (Taranti, Agrawal, and Cristi 2001) | | SRDC | [Figure 18](#figure--fig:stewart-pph) | Non-Cubic | Flexible | Voice Coil | Accelerometers, External metrology: Eddy Current + optical | Pointing | (Chen, Bishop, and Agrawal 2003) | -| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (Chi et al. 2015), (Tang, Cao, and Yu 2018), (Jiao et al. 2018) | -| Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (Beijen et al. 2018), (Tjepkema 2012) | +| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (Chi et al. 2015), (Tang, Cao, and Yu 2018), (Jiao et al. 2018) | +| Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (Beijen et al. 2018), (Tjepkema 2012) | | JPL | [Figure 4](#figure--fig:stewart-geng) | Cubic (6-UPU) | Flexible | Magnetostrictive | Force (collocated), Accelerometers | Vibration Isolation | (Geng and Haynes 1993), (Geng and Haynes 1994), (Geng et al. 1995) | -| China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (Zhang et al. 2011) | +| China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (Zhang et al. 2011) | | Brussels | [Figure 20](#figure--fig:stewart-ulb-pz) | Cubic | Flexible | Piezoelectric, Amplified | Piezo Force | Active Damping | (Abu Hanieh, Horodinca, and Preumont 2002) | | SRDC | [Figure 19](#figure--fig:stewart-uqp) | Cubic | | Piezoelectric (50 um) | Geophone | Vibration | (Agrawal and Chen 2004) | -| Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (Ting, Jar, and Li 2006), (Ting, Li, and Nguyen 2013) | -| Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (Ting, Jar, and Li 2007) | +| Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (Ting, Jar, and Li 2006), (Ting, Li, and Nguyen 2013) | +| Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (Ting, Jar, and Li 2007) | | Harbin (China) | [Figure 12](#figure--fig:stewart-du14) | 6-SPS (Optimized) | Flexible | Piezoelectric | Strain Gauge | | (Du, Shi, and Dong 2014) | | Japan | [Figure 6](#figure--fig:stewart-furutani) | Non-Cubic | Flexible | Piezoelectric (16 um) | Eddy Current Displacement Sensors | Cutting machine | (Furutani, Suzuki, and Kudoh 2004) | -| China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (Yang et al. 2019) | -| Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (Wang et al. 2016) | +| China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (Yang et al. 2019) | +| Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (Wang et al. 2016) | | Matra (France) | [Figure 3](#figure--fig:stewart-mais) | Cubic | Flexible | Piezoelectric (25 um) | Piezo force sensors | Vibration control | (Defendini et al. 2000) | -| Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (Torii et al. 2012) | -| Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (Naves 2021; Naves et al. 2020) | +| Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (Torii et al. 2012) | +| Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (Naves 2021; Naves et al. 2020) | -{{< figure src="/ox-hugo/stewart_naves.jpg" caption="Figure 1: T-flex (Naves et al. 2020)" >}} +{{< figure src="/ox-hugo/stewart_naves.jpg" caption="Figure 1: T-flex <&naves20_t_flex>" >}} -{{< figure src="/ox-hugo/stewart_naval.jpg" caption="Figure 2: (Taranti, Agrawal, and Cristi 2001)" >}} +{{< figure src="/ox-hugo/stewart_naval.jpg" caption="Figure 2: <&taranti01_effic_algor_vibrat_suppr>" >}} -{{< figure src="/ox-hugo/stewart_mais.jpg" caption="Figure 3: (Defendini et al. 2000)" >}} +{{< figure src="/ox-hugo/stewart_mais.jpg" caption="Figure 3: <&defendini00_techn>" >}} -{{< figure src="/ox-hugo/stewart_geng.jpg" caption="Figure 4: (Geng and Haynes 1994)" >}} +{{< figure src="/ox-hugo/stewart_geng.jpg" caption="Figure 4: <&geng94_six_degree_of_freed_activ>" >}} -{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="Figure 5: (Spanos, Rahman, and Blackwood 1995)" >}} +{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="Figure 5: <&spanos95_soft_activ_vibrat_isolat>" >}} -{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="Figure 6: (Furutani, Suzuki, and Kudoh 2004)" >}} +{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="Figure 6: <&furutani04_nanom_cuttin_machin_using_stewar>" >}} -{{< figure src="/ox-hugo/stewart_torii.jpg" caption="Figure 7: (Torii et al. 2012)" >}} +{{< figure src="/ox-hugo/stewart_torii.jpg" caption="Figure 7: <&torii12_small_size_self_propel_stewar_platf>" >}} -{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="Figure 8: (Wang et al. 2016)" >}} +{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="Figure 8: <&wang16_inves_activ_vibrat_isolat_stewar>" >}} -{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="Figure 9: (Beijen et al. 2018)" >}} +{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="Figure 9: <&beijen18_self_tunin_mimo_distur_feedf>" >}} -{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="Figure 10: (Zhang et al. 2011)" >}} +{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="Figure 10: <&zhang11_six_dof>" >}} -{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="Figure 11: (Yang et al. 2019)" >}} +{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="Figure 11: <&yang19_dynam_model_decoup_contr_flexib>" >}} -{{< figure src="/ox-hugo/stewart_du14.jpg" caption="Figure 12: (Du, Shi, and Dong 2014)" >}} +{{< figure src="/ox-hugo/stewart_du14.jpg" caption="Figure 12: <&du14_piezo_actuat_high_precis_flexib>" >}} -{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="Figure 13: (Tang, Cao, and Yu 2018)" >}} +{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="Figure 13: <&tang18_decen_vibrat_contr_voice_coil>" >}} -{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="Figure 14: (Ting, Jar, and Li 2006)" >}} +{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="Figure 14: <&ting06_desig_stewar_nanos_platf>" >}} -{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="Figure 15: (Ting, Jar, and Li 2007)" >}} +{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="Figure 15: <&ting07_measur_calib_stewar_microm_system>" >}} -{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="Figure 16: Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions (Thayer et al. 2002)" >}} +{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="Figure 16: Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions <&thayer02_six_axis_vibrat_isolat_system>" >}} -{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="Figure 17: UW GSP: Mutually Orthogonal Stewart Geometry (Li 2001)" >}} +{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="Figure 17: UW GSP: Mutually Orthogonal Stewart Geometry <&li01_simul_fault_vibrat_isolat_point>" >}} -{{< figure src="/ox-hugo/stewart_pph.jpg" caption="Figure 18: Precision Pointing Hexapod (PPH) (Chen, Bishop, and Agrawal 2003)" >}} +{{< figure src="/ox-hugo/stewart_pph.jpg" caption="Figure 18: Precision Pointing Hexapod (PPH) <&chen03_payload_point_activ_vibrat_isolat>" >}} -{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="Figure 19: Ultra Quiet Platform (UQP) (Agrawal and Chen 2004)" >}} +{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="Figure 19: Ultra Quiet Platform (UQP) <&agrawal04_algor_activ_vibrat_isolat_spacec>" >}} -{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="Figure 20: ULB - Piezoelectric (Abu Hanieh, Horodinca, and Preumont 2002)" >}} +{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="Figure 20: ULB - Piezoelectric <&abu02_stiff_soft_stewar_platf_activ>" >}} -{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="Figure 21: ULB - Voice Coil (Abu Hanieh 2003)" >}} +{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="Figure 21: ULB - Voice Coil <&hanieh03_activ_stewar>" >}} ### Long Stroke {#long-stroke} @@ -179,24 +179,24 @@ Tags |----------------|------------------------------------------|---------------|--------------|-------------------------|--------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| | Japan | [Figure 22](#figure--fig:stewart-cleary) | 6-UPS | Conventional | DC, gear + rack pinion | Encoder, 7um res | (Cleary and Arai 1991) | | Seoul | [Figure 23](#figure--fig:stewart-kim00) | Non-Cubic | Conventional | Hydraulic | LVDT | (Kim, Kang, and Lee 2000) | -| Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (Su et al. 2004) | +| Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (Su et al. 2004) | | Czech | [Figure 25](#figure--fig:stewart-czech) | 6-UPS | Conventional | DC, Ball Screw | Absolute Linear position | (Březina, Andrš, and Březina 2008), (Houška, Březina, and Březina 2010), (Březina and Březina 2010) | -{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="Figure 22: (Cleary and Arai 1991)" >}} +{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="Figure 22: <&cleary91_protot_paral_manip>" >}} -{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="Figure 23: (Kim 2001)" >}} +{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="Figure 23: <&kim01_six>" >}} -{{< figure src="/ox-hugo/stewart_su04.jpg" caption="Figure 24: (Su et al. 2004)" >}} +{{< figure src="/ox-hugo/stewart_su04.jpg" caption="Figure 24: <&su04_distur_rejec_high_precis_motion>" >}} -{{< figure src="/ox-hugo/stewart_czech.jpg" caption="Figure 25: Stewart platform from Brno University (Czech) (Březina, Andrš, and Březina 2008)" >}} +{{< figure src="/ox-hugo/stewart_czech.jpg" caption="Figure 25: Stewart platform from Brno University (Czech) <&brezina08_ni_labview_matlab_simmec_stewar_platf_desig>" >}} ## Articles - Design Related {#articles-design-related} @@ -220,7 +220,7 @@ From (Hauge and Campbell 2004): | Main Object | Link to bibliography | |--------------------|----------------------------------------------------| -| Effect of flexures | (McInroy 2002) | +| Effect of flexures | (McInroy 2002) | ### Decoupling {#decoupling} @@ -229,7 +229,7 @@ From (Hauge and Campbell 2004): | Main Object | Link to bibliography | |------------------------------------|---------------------------------------------------------------| -| Geometry for decoupling (CoM, CoK) | (McInroy and Hamann 2000) | +| Geometry for decoupling (CoM, CoK) | (McInroy and Hamann 2000) | | | (Afzali-Far 2016) | @@ -241,13 +241,13 @@ From (Hauge and Campbell 2004): |------------------------------------------|----------------------------------------------------------------------------------------------------------------------------| | [Figure 26](#figure--fig:stewart-dong07) | (Dong, Sun, and Du 2008), (Dong, Sun, and Du 2007) | | | (Kim and Cho 2009) | -| | (Yun and Li 2010) | +| | (Yun and Li 2010) | | | (Gao et al. 2002) | | | (Horin and Shoham 2006) | -{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="Figure 26: (Dong, Sun, and Du 2007)" >}} +{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="Figure 26: <&dong07_desig_precis_compl_paral_posit>" >}} ### Workspace {#workspace} @@ -257,7 +257,7 @@ From (Hauge and Campbell 2004): | Main Object | Link to bibliography | |------------------------------------------------------|----------------------------------------------------------------| | Compute orientation | (Bonev and Ryu 2001) | -| Reachable Workspace | (Pernkopf and Husty 2006) | +| Reachable Workspace | (Pernkopf and Husty 2006) | | Determination of the max. singularity free workspace | (Jiang and Gosselin 2009a) | | Orientation Workspace | (Jiang and Gosselin 2009b) | @@ -310,28 +310,28 @@ From (Hauge and Campbell 2004): | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |------------|------------------|------------------------------------|--------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| | JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (Geng et al. 1995) | -| JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) | -| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | -| Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (O’Brien et al. 1998) | -| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) | +| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | +| Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (O’Brien et al. 1998) | +| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | | Brussels | APA | Piezo force sensor | Decentralized IFF | | (Abu Hanieh, Horodinca, and Preumont 2002) | -| Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (Preumont et al. 2007) | -| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | -| China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (Yang et al. 2017) | +| Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (Preumont et al. 2007) | +| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | +| China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (Yang et al. 2017) | | Washinton | Voice Coil | Force | Decentralized IFF | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (Hauge and Campbell 2004) | -| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | #### Sky-Hood Damping {#sky-hood-damping} | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |----------------|------------|---------------------------------------------------|---------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------|--------------------------------------------------------------------| -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | | China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | | (Abbas and Hai 2014) | | Einhoven | Voice Coil | 6dof Accelerometers on mobile and fixed platforms | Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping) | | (Beijen et al. 2018) | -| Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (Tang, Cao, and Yu 2018) | -| Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer et al. 2002) | +| Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (Tang, Cao, and Yu 2018) | +| Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer et al. 2002) | | Washinton | Voice Coil | Geophones | Decentralized Sky Hood Damping | Comparison of force sensor and inertial sensors | (Hauge and Campbell 2004) | | Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | Model + active damping with flexible hinges | (Jiao et al. 2018) | @@ -342,10 +342,10 @@ From (Hauge and Campbell 2004): |------------|------------------|------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------|------------------------------------------------------------------------------------------------------------------------| | JPL | Magnetostrictive | Force, Accelerometers | Robust Adaptive Filter | Hardware implementation | (Geng and Haynes 1993), (Geng and Haynes 1994) | | SRDC | | | LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID | Rejection of narrowband periodic disturbances | (Chen, Bishop, and Agrawal 2003) | -| Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (Lin and McInroy 2003) | +| Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (Lin and McInroy 2003) | | SRDC | Piezo | Geophone (collocated) | "multiple error LMS" (require measured disturbance) vs "clear box" | | (Agrawal and Chen 2004) | -| China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (Zhang et al. 2011) | -| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | +| China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (Zhang et al. 2011) | +| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | ### Position Control {#position-control} @@ -363,17 +363,17 @@ Control Strategy: | University | Actuators | Sensors | Control | Modelling | Main Object | Link to bibliography | |----------------|---------------|------------------------------------------------|---------------------------------------------------------------------------------------|-----------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM => State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | -| Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM => State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | +| Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | | (Kim, Kang, and Lee 2000) | -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | | Japan | APA | Eddy current displacement | Decentralized (struts) PI + LPF control | | | (Furutani, Suzuki, and Kudoh 2004) | -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (Pu et al. 2011) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (Pu et al. 2011) | | Harbin (China) | PZT Piezo | Strain Gauge | Decentralized position feedback | | Workspace, Stiffness analyzed | (Du, Shi, and Dong 2014) | -| China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (Min, Huang, and Su 2019) | -| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Solid/Flexible | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | +| China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (Min, Huang, and Su 2019) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Solid/Flexible | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | -From: (Yang et al. 2019): +From: (Yang et al. 2019): > On the other hand, the traditional modal decoupled control strategy cannot deal with the flexible Stewart platform governed by Eq. (34) because it is impossible to achieve simultaneous diagonalization of the mass, damping and stiffness matrices. > To make the six-DOF system decoupled into six single-DOF isolators, we design a new controller based on the leg’s force and position feedback. @@ -398,7 +398,7 @@ Comparison between "two sensor control" and "sensor fusion" is given in (Hauge and Campbell 2004) | -| Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012) | +| Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012) | #### HAC-LAC {#hac-lac} @@ -406,17 +406,17 @@ Comparison between "two sensor control" and "sensor fusion" is given in (Geng et al. 1995) | -| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | -| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (Xie, Wang, and Zhang 2017) | +| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | +| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (Xie, Wang, and Zhang 2017) | #### Sensor Fusion {#sensor-fusion} | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |-------------|------------|------------------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------| -| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012), (Tjepkema, van Dijk, and Soemers 2012) | +| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012), (Tjepkema, van Dijk, and Soemers 2012) | | Washinton | Voice Coil | Force (HF) and Inertial (LF) | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (Hauge and Campbell 2004) | @@ -424,9 +424,9 @@ Comparison between "two sensor control" and "sensor fusion" is given in (Yang et al. 2019) | -| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | -| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | +| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | +| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | ### Decoupling Strategies {#decoupling-strategies} @@ -451,30 +451,30 @@ Identify Jacobian for better decoupling: (Cheng, #### Jacobian - Cartesian {#jacobian-cartesian} -| Wyoming | Voice Coil | Force | Cartesian frame decoupling | (O’Brien et al. 1998) | +| Wyoming | Voice Coil | Force | Cartesian frame decoupling | (O’Brien et al. 1998) | |---------|------------|------------------------------------------------|---------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | (Kim, Kang, and Lee 2000) | -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (Li, Hamann, and McInroy 2001) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (Li, Hamann, and McInroy 2001) | | China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | (Abbas and Hai 2014) | #### Modal Decoupling {#modal-decoupling} -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (Pu et al. 2011) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (Pu et al. 2011) | |-------|---------------|----------------------------------------------|--------------------------------------------------------------------|--------------------------------------------------------| -| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (Yang et al. 2019) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (Yang et al. 2019) | #### Multivariable Control {#multivariable-control} -From (Thayer et al. 2002): +From (Thayer et al. 2002): > Experimental closed-loopcontrol results using the hexapod have shown that controllers designed using a decentralized single-strut design work well when compared to full multivariable methodologies. -| China | PZT | Geophone (struts) | H-Infinity and mu-synthesis | (Lei and Benli 2008) | +| China | PZT | Geophone (struts) | H-Infinity and mu-synthesis | (Lei and Benli 2008) | |----------------|------------|---------------------------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------------------------| -| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (Xie, Wang, and Zhang 2017) | +| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (Xie, Wang, and Zhang 2017) | | Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | (Jiao et al. 2018) | @@ -485,11 +485,11 @@ From (Thayer et al. 2002): | Link to bibliography | University | Actuators | Sensors | Control | Main Object | |-------------------------------------------------------------------------------------------------------------------------------------------------|----------------|------------------------|------------------|--------------------------------------------------|--------------------------------------------| | (Cleary and Arai 1991) | Japan | DC, gear + rack pinion | Encoder, 7um res | Decentralized (struts), PID control | Singular configuration analysis, workspace | -| (Su et al. 2004) | Xidian (China) | | | | | +| (Su et al. 2004) | Xidian (China) | | | | | | (Huang and Fu 2005) | Taiwan | | | | | | (Březina, Andrš, and Březina 2008), (Houška, Březina, and Březina 2010) | Czech | DC | | | Modeling with sim-mechanics | -| (Molina, Rosario, and Sanchez 2008) | Brazil | | | | Simulation with Matlab/Simulink | -| (Yang et al. 2010) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics | +| (Molina, Rosario, and Sanchez 2008) | Brazil | | | | Simulation with Matlab/Simulink | +| (Yang et al. 2010) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics | | (Kim, Kang, and Lee 2000) | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | @@ -498,28 +498,28 @@ From (Thayer et al. 2002): ### Books {#books} -- (Merlet 2006) -- (Taghirad 2013) -- (Preumont 2018) +- (Merlet 2006) +- (Taghirad 2013) +- (Preumont 2018) - (Arakelian 2018) ### PhD Thesis {#phd-thesis} -- (Li 2001) +- (Li 2001) - (Bishop Jr 2002) - (Abu Hanieh 2003) -- (Vivas 2004) +- (Vivas 2004) - (Afzali-Far 2016) - (Deng 2017) -- (Naves et al. 2020) +- (Naves et al. 2020) ### Articles - Reviews {#articles-reviews} - (Dasgupta and Mruthyunjaya 2000) -- (Merlet 2002) -- (Patel and George 2012) +- (Merlet 2002) +- (Patel and George 2012) - (Buzurovic 2012) - (Furqan, Suhaib, and Ahmad 2017) @@ -567,47 +567,46 @@ From (Thayer et al. 2002):
Jiao, J., Y. Wu, K. Yu, and R. Zhao. 2018. “Dynamic Modeling and Experimental Analyses of Stewart Platform with Flexible Hinges.” Journal of Vibration and Control 25 (1): 151–71. doi:10.1177/1077546318772474.
Kim, D. H., J.-Y. Kang, and K.-I. Lee. 2000. “Robust Tracking Control Design for a 6 Dof Parallel Manipulator.” Journal of Robotic Systems 17 (10): 527–47. doi:10.1002/1097-4563(200010)17:10$<$527:AID-ROB2>3.0.CO;2-A.
Kim, Hwa Soo, and Young Man Cho. 2009. “Design and Modeling of a Novel 3-Dof Precision Micro-Stage.” Mechatronics 19 (5): 598–608. doi:10.1016/j.mechatronics.2009.01.004.
-
Kim, Won-jong. 2001. “Six-Axis Nano-Positioning with Planar Magnetic Levitation.” In Proceedings of the 2001 1st IEEE Conference on Nanotechnology. IEEE-NANO 2001 (Cat. No.01EX516). doi:10.1109/nano.2001.966414.
-
Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” Chinese Journal of Aeronautics 21 (2): 125–33. doi:10.1016/s1000-9361(08)60016-3.
-
Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” IEEE Transactions on Control Systems Technology 11 (2): 267–72. doi:10.1109/tcst.2003.809248.
-
Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.
-
Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In Smart Structures and Materials 2001: Smart Structures and Integrated Systems. doi:10.1117/12.436521.
-
McInroy, J. E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328). doi:10.1109/cca.1999.806694.
-
———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” IEEE/ASME Transactions on Mechatronics 7 (1): 95–99. doi:10.1109/3516.990892.
-
McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” IEEE Transactions on Robotics and Automation 16 (4): 372–81. doi:10.1109/70.864229.
-
McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” IEEE/ASME Transactions on Mechatronics 4 (1): 91–95. doi:10.1109/3516.752089.
-
Merlet, J. P. 2006. Parallel Robots. 2nd ed. Springer Publishing Company, Incorporated.
-
Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In Proc. ASME 2002 DETC Conf., Montreal. https://api.semanticscholar.org/CorpusID:53859752.
-
Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In 2019 Chinese Control Conference (CCC). doi:10.23919/chicc.2019.8866606.
-
Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In 7th Brazilian Conference on Dynamics, Control & Applications.
-
Naves, M. 2021. “Design and Optimization of Large Stroke Flexure Mechanisms.” Univeristy of Twente; University of Twente. doi:10.3990/1.9789036549943.
-
Naves, M, WBJ Hakvoort, M Nijenhuis, and DM Brouwer. 2020. “T-Flex: A Large Range of Motion Fully Flexure-Based 6-DOF Hexapod.” In 20th EUSPEN International Conference & Exhibition, EUSPEN 2020, 205–8. EUSPEN.
-
O’Brien, J.F., J.E. McInroy, D. Bodtke, M. Bruch, and J.C. Hamann. 1998. “Lessons Learned in Nonlinear Systems and Flexible Robots through Experiments on a 6 Legged Platform.” In Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207). doi:10.1109/acc.1998.703532.
-
Patel, Y. D., and P. M. George. 2012. “Parallel Manipulators Applications-a Survey.” Modern Mechanical Engineering 02 (03). Scientific Research Publishing, Inc,: 57–64. doi:10.4236/mme.2012.23008.
-
Pernkopf, F, and M L Husty. 2006. “Workspace Analysis of Stewart-Gough-Type Parallel Manipulators.” Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science 220 (7): 1019–32. doi:10.1243/09544062jmes194.
-
Preumont, A. 2018. Vibration Control of Active Structures - Fourth Edition. Solid Mechanics and Its Applications. Springer International Publishing. doi:10.1007/978-3-319-72296-2.
-
Preumont, A., M. Horodinca, I. Romanescu, B. de Marneffe, M. Avraam, A. Deraemaeker, F. Bossens, and A. Abu Hanieh. 2007. “A Six-Axis Single-Stage Active Vibration Isolator Based on Stewart Platform.” Journal of Sound and Vibration 300 (3-5): 644–61. doi:10.1016/j.jsv.2006.07.050.
-
Pu, H., X. Chen, Z. Zhou, and X. Luo. 2011. “Six-Degree-of-Freedom Active Vibration Isolation System with Decoupled Collocated Control.” Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 226 (2): 313–25. doi:10.1177/0954405411414336.
-
Rahman, Z. H., J. T. Spanos, and R. A. Laskin. 1998. “Multiaxis Vibration Isolation, Suppression, and Steering System for Space Observational Applications.” In Telescope Control Systems III. doi:10.1117/12.308821.
-
Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In Proceedings of 1995 American Control Conference - ACC’95. doi:10.1109/acc.1995.529280.
-
Su, Y.X., B.Y. Duan, C.H. Zheng, Y.F. Zhang, G.D. Chen, and J.W. Mi. 2004. “Disturbance-Rejection High-Precision Motion Control of a Stewart Platform.” IEEE Transactions on Control Systems Technology 12 (3): 364–74. doi:10.1109/tcst.2004.824315.
-
Taghirad, H. 2013. Parallel Robots : Mechanics and Control. Boca Raton, FL: CRC Press.
-
Tang, J., D. Cao, and T. Yu. 2018. “Decentralized Vibration Control of a Voice Coil Motor-Based Stewart Parallel Mechanism: Simulation and Experiments.” Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science 233 (1): 132–45. doi:10.1177/0954406218756941.
-
Taranti, Christian, Brij Agrawal, and Roberto Cristi. 2001. “An Efficient Algorithm for Vibration Suppression to Meet Pointing Requirements of Optical Payloads.” In AIAA Guidance, Navigation, and Control Conference and Exhibit, 4094.
-
Thayer, D., and J. Vagners. 1998. “A Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis.” In Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207). doi:10.1109/acc.1998.703595.
-
Thayer, D., M. Campbell, J. Vagners, and A. von Flotow. 2002. “Six-Axis Vibration Isolation System Using Soft Actuators and Multiple Sensors.” Journal of Spacecraft and Rockets 39 (2): 206–12. doi:10.2514/2.3821.
-
Ting, Y., H.-C. Jar, and C.-C. Li. 2007. “Measurement and Calibration for Stewart Micromanipulation System.” Precision Engineering 31 (3): 226–33. doi:10.1016/j.precisioneng.2006.09.004.
-
Ting, Y., C.-C. Li, and T. V. Nguyen. 2013. “Composite Controller Design for a 6dof Stewart Nanoscale Platform.” Precision Engineering 37 (3): 671–83. doi:10.1016/j.precisioneng.2013.01.012.
-
Ting, Yung, H.-C. Jar, and Chun-Chung Li. 2006. “Design of a 6DOF Stewart-Type Nanoscale Platform.” In 2006 Sixth IEEE Conference on Nanotechnology. doi:10.1109/nano.2006.247808.
-
Tjepkema, D. 2012. “Active Hard Mount Vibration Isolation for Precision Equipment [Ph. D. Thesis].”
-
Tjepkema, D., J. van Dijk, and H. M. J. R. Soemers. 2012. “Sensor Fusion for Active Vibration Isolation in Precision Equipment.” Journal of Sound and Vibration 331 (4): 735–49. doi:10.1016/j.jsv.2011.09.022.
-
Torii, Akihiro, Masaaki Banno, Akiteru Ueda, and Kae Doki. 2012. “A Small-Size Self-Propelled Stewart Platform.” Electrical Engineering in Japan 181 (2): 37–46. doi:10.1002/eej.21261.
-
Vivas, Oscar Andrés. 2004. “Contribution À L’identification et À La Commande Des Robots Parallèles.” Université Montpellier II-Sciences et Techniques du Languedoc.
-
Wang, C., X. Xie, Y. Chen, and Z. Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” Journal of Sound and Vibration 383. Elsevier BV: 1–19. doi:10.1016/j.jsv.2016.07.021.
-
Xie, X., C. Wang, and Z. Zhang. 2017. “Modeling and Control of a Hybrid Passive/Active Stewart Vibration Isolation Platform.” In INTER-NOISE and NOISE-CON Congress and Conference Proceedings, 255:1844–53. 6. Institute of Noise Control Engineering.
-
Yang, Chifu, Zhengmao Ye, O. Ogbobe Peter, and Junwei Han. 2010. “Modeling and Simulation of Spatial 6-DOF Parallel Robots Using Simulink and SimMechanics.” In 2010 3rd International Conference on Computer Science and Information Technology. doi:10.1109/iccsit.2010.5563824.
-
Yang, XiaoLong, HongTao Wu, Yao Li, and Bai Chen. 2017. “Dynamic Isotropic Design and Decentralized Active Control of a Six-Axis Vibration Isolator via Stewart Platform.” Mechanism and Machine Theory 117: 244–52. doi:10.1016/j.mechmachtheory.2017.07.017.
-
Yang, X., H. Wu, B. Chen, S. Kang, and S. Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” Journal of Sound and Vibration 439. Elsevier BV: 398–412. doi:10.1016/j.jsv.2018.10.007.
-
Yun, Yuan, and Yangmin Li. 2010. “Design and Analysis of a Novel 6-Dof Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning.” Nonlinear Dynamics 61 (4): 829–45. doi:10.1007/s11071-010-9690-x.
-
Zhang, Z., J. Liu, J. Mao, Y. Guo, and Y. Ma. 2011. “Six DOF Active Vibration Control Using Stewart Platform with Non-Cubic Configuration.” In 2011 6th IEEE Conference on Industrial Electronics and Applications. doi:10.1109/iciea.2011.5975679.
+
Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” Chinese Journal of Aeronautics 21 (2): 125–33. doi:10.1016/s1000-9361(08)60016-3.
+
Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” IEEE Transactions on Control Systems Technology 11 (2): 267–72. doi:10.1109/tcst.2003.809248.
+
Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.
+
Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In Smart Structures and Materials 2001: Smart Structures and Integrated Systems. doi:10.1117/12.436521.
+
McInroy, J. E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328). doi:10.1109/cca.1999.806694.
+
———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” IEEE/ASME Transactions on Mechatronics 7 (1): 95–99. doi:10.1109/3516.990892.
+
McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” IEEE Transactions on Robotics and Automation 16 (4): 372–81. doi:10.1109/70.864229.
+
McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” IEEE/ASME Transactions on Mechatronics 4 (1): 91–95. doi:10.1109/3516.752089.
+
Merlet, J. P. 2006. Parallel Robots. 2nd ed. Springer Publishing Company, Incorporated.
+
Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In Proc. ASME 2002 DETC Conf., Montreal. https://api.semanticscholar.org/CorpusID:53859752.
+
Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In 2019 Chinese Control Conference (CCC). doi:10.23919/chicc.2019.8866606.
+
Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In 7th Brazilian Conference on Dynamics, Control & Applications.
+
Naves, M. 2021. “Design and Optimization of Large Stroke Flexure Mechanisms.” Univeristy of Twente; University of Twente. doi:10.3990/1.9789036549943.
+
Naves, M, WBJ Hakvoort, M Nijenhuis, and DM Brouwer. 2020. “T-Flex: A Large Range of Motion Fully Flexure-Based 6-DOF Hexapod.” In 20th EUSPEN International Conference & Exhibition, EUSPEN 2020, 205–8. EUSPEN.
+
O’Brien, J.F., J.E. McInroy, D. Bodtke, M. Bruch, and J.C. Hamann. 1998. “Lessons Learned in Nonlinear Systems and Flexible Robots through Experiments on a 6 Legged Platform.” In Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207). doi:10.1109/acc.1998.703532.
+
Patel, Y. D., and P. M. George. 2012. “Parallel Manipulators Applications-a Survey.” Modern Mechanical Engineering 02 (03). Scientific Research Publishing, Inc,: 57–64. doi:10.4236/mme.2012.23008.
+
Pernkopf, F, and M L Husty. 2006. “Workspace Analysis of Stewart-Gough-Type Parallel Manipulators.” Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science 220 (7): 1019–32. doi:10.1243/09544062jmes194.
+
Preumont, A. 2018. Vibration Control of Active Structures - Fourth Edition. Solid Mechanics and Its Applications. Springer International Publishing. doi:10.1007/978-3-319-72296-2.
+
Preumont, A., M. Horodinca, I. Romanescu, B. de Marneffe, M. Avraam, A. Deraemaeker, F. Bossens, and A. Abu Hanieh. 2007. “A Six-Axis Single-Stage Active Vibration Isolator Based on Stewart Platform.” Journal of Sound and Vibration 300 (3-5): 644–61. doi:10.1016/j.jsv.2006.07.050.
+
Pu, H., X. Chen, Z. Zhou, and X. Luo. 2011. “Six-Degree-of-Freedom Active Vibration Isolation System with Decoupled Collocated Control.” Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 226 (2): 313–25. doi:10.1177/0954405411414336.
+
Rahman, Z. H., J. T. Spanos, and R. A. Laskin. 1998. “Multiaxis Vibration Isolation, Suppression, and Steering System for Space Observational Applications.” In Telescope Control Systems III. doi:10.1117/12.308821.
+
Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In Proceedings of 1995 American Control Conference - ACC’95. doi:10.1109/acc.1995.529280.
+
Su, Y.X., B.Y. Duan, C.H. Zheng, Y.F. Zhang, G.D. Chen, and J.W. Mi. 2004. “Disturbance-Rejection High-Precision Motion Control of a Stewart Platform.” IEEE Transactions on Control Systems Technology 12 (3): 364–74. doi:10.1109/tcst.2004.824315.
+
Taghirad, H. 2013. Parallel Robots : Mechanics and Control. Boca Raton, FL: CRC Press.
+
Tang, J., D. Cao, and T. Yu. 2018. “Decentralized Vibration Control of a Voice Coil Motor-Based Stewart Parallel Mechanism: Simulation and Experiments.” Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science 233 (1): 132–45. doi:10.1177/0954406218756941.
+
Taranti, Christian, Brij Agrawal, and Roberto Cristi. 2001. “An Efficient Algorithm for Vibration Suppression to Meet Pointing Requirements of Optical Payloads.” In AIAA Guidance, Navigation, and Control Conference and Exhibit, 4094.
+
Thayer, D., and J. Vagners. 1998. “A Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis.” In Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207). doi:10.1109/acc.1998.703595.
+
Thayer, D., M. Campbell, J. Vagners, and A. von Flotow. 2002. “Six-Axis Vibration Isolation System Using Soft Actuators and Multiple Sensors.” Journal of Spacecraft and Rockets 39 (2): 206–12. doi:10.2514/2.3821.
+
Ting, Y., H.-C. Jar, and C.-C. Li. 2007. “Measurement and Calibration for Stewart Micromanipulation System.” Precision Engineering 31 (3): 226–33. doi:10.1016/j.precisioneng.2006.09.004.
+
Ting, Y., C.-C. Li, and T. V. Nguyen. 2013. “Composite Controller Design for a 6dof Stewart Nanoscale Platform.” Precision Engineering 37 (3): 671–83. doi:10.1016/j.precisioneng.2013.01.012.
+
Ting, Yung, H.-C. Jar, and Chun-Chung Li. 2006. “Design of a 6DOF Stewart-Type Nanoscale Platform.” In 2006 Sixth IEEE Conference on Nanotechnology. doi:10.1109/nano.2006.247808.
+
Tjepkema, D. 2012. “Active Hard Mount Vibration Isolation for Precision Equipment [Ph. D. Thesis].”
+
Tjepkema, D., J. van Dijk, and H. M. J. R. Soemers. 2012. “Sensor Fusion for Active Vibration Isolation in Precision Equipment.” Journal of Sound and Vibration 331 (4): 735–49. doi:10.1016/j.jsv.2011.09.022.
+
Torii, Akihiro, Masaaki Banno, Akiteru Ueda, and Kae Doki. 2012. “A Small-Size Self-Propelled Stewart Platform.” Electrical Engineering in Japan 181 (2): 37–46. doi:10.1002/eej.21261.
+
Vivas, Oscar Andrés. 2004. “Contribution À L’identification et À La Commande Des Robots Parallèles.” Université Montpellier II-Sciences et Techniques du Languedoc.
+
Wang, C., X. Xie, Y. Chen, and Z. Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” Journal of Sound and Vibration 383. Elsevier BV: 1–19. doi:10.1016/j.jsv.2016.07.021.
+
Xie, X., C. Wang, and Z. Zhang. 2017. “Modeling and Control of a Hybrid Passive/Active Stewart Vibration Isolation Platform.” In INTER-NOISE and NOISE-CON Congress and Conference Proceedings, 255:1844–53. 6. Institute of Noise Control Engineering.
+
Yang, Chifu, Zhengmao Ye, O. Ogbobe Peter, and Junwei Han. 2010. “Modeling and Simulation of Spatial 6-DOF Parallel Robots Using Simulink and SimMechanics.” In 2010 3rd International Conference on Computer Science and Information Technology. doi:10.1109/iccsit.2010.5563824.
+
Yang, XiaoLong, HongTao Wu, Yao Li, and Bai Chen. 2017. “Dynamic Isotropic Design and Decentralized Active Control of a Six-Axis Vibration Isolator via Stewart Platform.” Mechanism and Machine Theory 117: 244–52. doi:10.1016/j.mechmachtheory.2017.07.017.
+
Yang, X., H. Wu, B. Chen, S. Kang, and S. Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” Journal of Sound and Vibration 439. Elsevier BV: 398–412. doi:10.1016/j.jsv.2018.10.007.
+
Yun, Yuan, and Yangmin Li. 2010. “Design and Analysis of a Novel 6-Dof Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning.” Nonlinear Dynamics 61 (4): 829–45. doi:10.1007/s11071-010-9690-x.
+
Zhang, Z., J. Liu, J. Mao, Y. Guo, and Y. Ma. 2011. “Six DOF Active Vibration Control Using Stewart Platform with Non-Cubic Configuration.” In 2011 6th IEEE Conference on Industrial Electronics and Applications. doi:10.1109/iciea.2011.5975679.
diff --git a/content/zettels/stick_slip_piezo_stage.md b/content/zettels/stick_slip_piezo_stage.md index 4758272..3e3600b 100644 --- a/content/zettels/stick_slip_piezo_stage.md +++ b/content/zettels/stick_slip_piezo_stage.md @@ -16,9 +16,3 @@ Tags ## Smartact {#smartact} - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/strain_sensors.md b/content/zettels/strain_sensors.md index 8e7e48f..0851c79 100644 --- a/content/zettels/strain_sensors.md +++ b/content/zettels/strain_sensors.md @@ -13,9 +13,3 @@ Tags ## Manufacturers {#manufacturers} - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/synchrotron_radiation_facilities.md b/content/zettels/synchrotron_radiation_facilities.md index 1071db6..1d43f85 100644 --- a/content/zettels/synchrotron_radiation_facilities.md +++ b/content/zettels/synchrotron_radiation_facilities.md @@ -36,9 +36,3 @@ Tags | [NanoTerasu](https://www.qst.go.jp/site/3gev-eng/) | Japan | 4th | In operation | 3GeV | | 1nm.rad | 400mA | | [Australian Synchrotron](https://www.ansto.gov.au/facilities/australian-synchrotron) | Australia, Clayton | 3rd | | 3GeV | | 16nm.rad | 200mA | | [Canadian Light Source](https://www.lightsource.ca/index.php) | Canada, Saskatchewan | 3rd | | 3GeV | | 18nm.rad | 220mA | - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/test.md b/content/zettels/test.md index 3635b7a..f3054ea 100644 --- a/content/zettels/test.md +++ b/content/zettels/test.md @@ -465,7 +465,7 @@ Numbering can be continued by using `+n` option as shown below. ```
Code Snippet 4: - Tikz code that is used to generate 5 + Tikz code that is used to generate 5
diff --git a/content/zettels/time_delay.md b/content/zettels/time_delay.md index 9252a39..c644d8d 100644 --- a/content/zettels/time_delay.md +++ b/content/zettels/time_delay.md @@ -76,9 +76,3 @@ At the Nyquist frequency (5 kHz), the phase lag is 180 degrees. {{< figure src="/ox-hugo/time_delay_induced_phase_lag.png" caption="Figure 1: Phase lag induced by a time delay" >}} - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/tip_tilt_mirrors.md b/content/zettels/tip_tilt_mirrors.md index 9df4a46..7421565 100644 --- a/content/zettels/tip_tilt_mirrors.md +++ b/content/zettels/tip_tilt_mirrors.md @@ -22,9 +22,3 @@ Tags | [Maradin](http://www.maradin.co.il/products/mar1100-mems-2d-laser-scanning-mirror/) | Israel | | [Opus](http://www.opusmicro.com/mems_en.html) | Taiwan | | [Ulsis](https://www.ulsis.com/) | Turc | - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/torque_motor.md b/content/zettels/torque_motor.md index 620ce98..6b1ab11 100644 --- a/content/zettels/torque_motor.md +++ b/content/zettels/torque_motor.md @@ -29,9 +29,3 @@ Due to cogging, the fundamental period of the error is: number of pair poles \* | [ThinGap](https://www.thingap.com/) | USA | | [CeleraMotion](https://www.celeramotion.com/applimotion/products/direct-drive-frameless-rotary-motors/) | USA | | [AlliedMotion](https://www.alliedmotion.com/) | USA | - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/trainings.md b/content/zettels/trainings.md index 4a73523..dddf013 100644 --- a/content/zettels/trainings.md +++ b/content/zettels/trainings.md @@ -20,9 +20,3 @@ Mechatronics: Matlab: - [Mathworks](https://www.mathworks.com/training-schedule/) - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/transconductance_amplifiers.md b/content/zettels/transconductance_amplifiers.md index 24b7cce..633d01b 100644 --- a/content/zettels/transconductance_amplifiers.md +++ b/content/zettels/transconductance_amplifiers.md @@ -57,7 +57,7 @@ Such amplifier is used to control motors (e.g. voice coil, BLDC, stepper motors, ## Required properties {#required-properties} -Main required properties are (taken from (Schmidt, Schitter, and Rankers 2020)): +Main required properties are (taken from (Schmidt, Schitter, and Rankers 2020)): - **Power delivery capability** - **Dynamic properties** @@ -221,69 +221,20 @@ Howland current source is shown in [Figure 1](#figure--fig:art-electronics-curre -{{< figure src="/ox-hugo/art_electronics_current_source.png" caption="Figure 1: From (Horowitz 2015)" >}} +{{< figure src="/ox-hugo/art_electronics_current_source.png" caption="Figure 1: From <&horowitz15_art_of_elect_third_edition>" >}} ### Other circuits found in the litterature {#other-circuits-found-in-the-litterature} -{{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="Figure 2: From (Lafarga 2024), Appendix B" >}} +{{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="Figure 2: From <&lafarga24_activ_vibrat_isolat_system_space_applic>, Appendix B" >}} -{{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="Figure 3: From (Okyay 2016), Appendix A" >}} +{{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="Figure 3: From <&okyay16_mechat_desig_dynam_contr_metrol>, Appendix A" >}} ## Estimation of the required current noise {#estimation-of-the-required-current-noise} - -### Voice Coil Actuator with flexible guiding {#voice-coil-actuator-with-flexible-guiding} - -```matlab -%% Frequency vector used for the analysis -freqs = logspace(0, 4, 1000); % [Hz] - -%% Motor properties -Kt = 28; % Force constant [N/A] - -%% Amplifier Noise -In = 1e-6.*ones(size(freqs)); % Current noise density [A/sqrt(Hz)] - -%% DAC Noise -Vn = (20/2^20)^2/12*1e4*ones(size(freqs)); % DAC output noise in [V/sqrt(Hz)] -Vn = 3e-8 -Gi = 0.2; % Amplifier Gain [A/V] - -%% Mechanical properties -m = 200e-3; % Mobile mass [kg] -k = 1e3; % Guiding stiffness [N/m] -xi = 0.05; % Modal Damping -``` - -```matlab -%% Transfer function from F [N] to x [m] -Gx = 1/(m*s^2); -``` - -```matlab -%% Transfer function from I [A] to x [m] -x_asd_i = In.*abs(squeeze(freqresp(Gx*Kt, freqs, 'Hz')))'; -x_asd_v = Vn.*abs(squeeze(freqresp(Gx*Gi*Kt, freqs, 'Hz')))'; - -%% Cumulative amplitude spectrum -figure; -tiledlayout(1, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); - -nexttile(); -hold on; -plot(freqs, sqrt(flip(-cumtrapz(flip(freqs), flip(x_asd_i.^2)))) , '-'); -plot(freqs, sqrt(flip(-cumtrapz(flip(freqs), flip(x_asd_v.^2)))) , '-'); -plot(freqs, ex , '-'); -hold off; -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -ylabel('Magnitude'); xlabel('Frequency [Hz]'); -xlim([0, 1e3]); -``` - - -### Approximate analytical formula {#approximate-analytical-formula} +Let's consider a simple suspended mass (with mass `m` in kg) driven by a voice coil (with a motor constant `Kt` in N/A). +The control is done in closed-loop, with a feedback bandwidth `fb` in Hz. Parameters: @@ -304,40 +255,32 @@ We have that the residual motion when the feedback controller is closed is appro Therefore, this formula can be used to: -- - - - ```matlab %% Estimate the position stability from the current noise and system parameters -m = 1; % [kg] +m = 1; % [kg] In = 1e-6; % [A/sqrt(Hz)] Kt = 10; % [N/A] -fb = 10; % [Hz] +fb = 100; % [Hz] ex = In*Kt/m/(2*pi)^2*sqrt(1./(3*fb^3)); ``` ```text -epsilon x = 4.6 [nm RMS] +epsilon x = 0.15 [nm RMS] ``` -- - - - ```matlab %% Estimate the required current noise from the wanted position stability and the parameters of the system -m = 1; % [kg] +m = 1; % [kg] Kt = 10; % [N/A] -fb = 50; % [Hz] +fb = 100; % [Hz] ex = 1e-9; % [m RMS] In = ex*m*(2*pi)^2/Kt * sqrt(3*fb^3); ``` ```text -In = 2.4e-06 [A/sqrt(Hz)] +In = 6.8e-06 [A/sqrt(Hz)] ``` @@ -345,7 +288,5 @@ In = 2.4e-06 [A/sqrt(Hz)]
Horowitz, Paul. 2015. The Art of Electronics - Third Edition. New York, NY, USA: Cambridge University Press.
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Lafarga, Vicente. 2024. “Active Vibration Isolation System for Space Applications.” ULB.
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Okyay, A. 2016. “Mechatronic Design, Dynamics, Controls, and Metrology of a Long-Stroke Linear Nano-Positioner.” University of Waterloo.
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Schmidt, R. M., G. Schitter, and A. Rankers. 2020. The Design of High Performance Mechatronics - Third Revised Edition. Ios Press.
+
Schmidt, R. M., G. Schitter, and A. Rankers. 2020. The Design of High Performance Mechatronics - Third Revised Edition. Ios Press.
diff --git a/content/zettels/vibration_isolation.md b/content/zettels/vibration_isolation.md index 0c97a45..9445067 100644 --- a/content/zettels/vibration_isolation.md +++ b/content/zettels/vibration_isolation.md @@ -8,9 +8,3 @@ subcategory = "Vibration Control" Tags : - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/virtual_sensor_fusion.md b/content/zettels/virtual_sensor_fusion.md index 3df0cb3..c2f8fb7 100644 --- a/content/zettels/virtual_sensor_fusion.md +++ b/content/zettels/virtual_sensor_fusion.md @@ -8,9 +8,3 @@ subcategory = "Sensor and Actuator Fusion" Tags : - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/weighting_functions.md b/content/zettels/weighting_functions.md index 46c8dbb..a528084 100644 --- a/content/zettels/weighting_functions.md +++ b/content/zettels/weighting_functions.md @@ -8,9 +8,3 @@ subcategory = "Advanced Control" Tags : [H Infinity Control]({{< relref "h_infinity_control.md" >}}) - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/wheatstone_bridge.md b/content/zettels/wheatstone_bridge.md index 5f8bfbb..abe4af0 100644 --- a/content/zettels/wheatstone_bridge.md +++ b/content/zettels/wheatstone_bridge.md @@ -18,9 +18,3 @@ They are used to read various sensors: {{< figure src="/ox-hugo/wheatstone_bridge.jpg" caption="Figure 1: Electrical schematic of a Wheatstone bridge" >}} - - -## Bibliography {#bibliography} - -
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diff --git a/content/zettels/z_transform.md b/content/zettels/z_transform.md index 4fc4338..44904a7 100644 --- a/content/zettels/z_transform.md +++ b/content/zettels/z_transform.md @@ -14,9 +14,3 @@ Tags A continuous transfer function (i.e. in the Laplace domain) can easily be converted to the discrete time domain (i.e. in the z-domain) using the `c2d` Matlab command ([doc](https://fr.mathworks.com/help/control/ref/lti.c2d.html;jsessionid=206bd0fc8950c5f8cb6b568d7393#mw_53fc4689-2099-41d0-93b3-de1e51a174c1)). Several methods can be used, each with some advantages and drawbacks, see [this document](https://fr.mathworks.com/help/control/ug/continuous-discrete-conversion-methods.html). - - -## Bibliography {#bibliography} - -
-