Update manuscript

A6-simscape-nass/nass_2_hac.m

@@ -507,11 +507,11 @@ tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
 ax1 = nexttile([2,1]);
 hold on;
 plot(f, abs(squeeze(freqresp(G_m1_vc(1,1), f, 'Hz'))), 'color', colors(1,:), ...
-     'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 0$')
+     'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - $\Omega_z = 0$')
 plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_slow(1,1), f, 'Hz'))), 'color', colors(2,:), ...
-     'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 36$ deg/s')
+     'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - $\Omega_z = 36$ deg/s')
 plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_fast(1,1), f, 'Hz'))), 'color', colors(3,:), ...
-     'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 360$ deg/s')
+     'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - $\Omega_z = 360$ deg/s')
 for i = 1:5
     for j = i+1:6
         plot(f, abs(squeeze(freqresp(G_m1_vc(i,j), f, 'Hz'))), 'color', [colors(1,:), 0.2], ...
@@ -591,11 +591,11 @@ tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'None');
 
 ax1 = nexttile([2,1]);
 hold on;
-plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m1( i,i), f, 'Hz'))), ...
+plot(f, abs(squeeze(freqresp(Khac(1,1)*G_hac_m1( 1,1), f, 'Hz'))), ...
      'color', [colors(1,:), 0.5], 'DisplayName', '1kg');
-plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m25(i,i), f, 'Hz'))), ...
+plot(f, abs(squeeze(freqresp(Khac(1,1)*G_hac_m25(1,1), f, 'Hz'))), ...
      'color', [colors(2,:), 0.5], 'DisplayName', '25kg');
-plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m50(i,i), f, 'Hz'))), ...
+plot(f, abs(squeeze(freqresp(Khac(1,1)*G_hac_m50(1,1), f, 'Hz'))), ...
      'color', [colors(3,:), 0.5], 'DisplayName', '50kg');
 for i = 2:6
     plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m1( i,i), f, 'Hz'))), 'color', [colors(1,:), 0.5], 'HandleVisibility', 'off');

B3-control/detail_control_2_decoupling.m

@@ -131,7 +131,7 @@ plot(freqs, abs(squeeze(freqresp(G_CoK(3, 1), freqs, 'Hz'))), 'color', [0,0,0,0.
      'DisplayName', '$R_{z,\{K\}}/F_{x,\{K\}}$');
 hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-xlabel('Frequency [Hz]'); ylabel('Kagnitude');
+xlabel('Frequency [Hz]'); ylabel('Magnitude');
 ylim([1e-10, 1e-3]);
 leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 2);
 leg.ItemTokenSize(1) = 18;

B4-nass-instrumentation/detail_instrumentation_1_dynamic_error_budgeting.m

@@ -68,8 +68,8 @@ io(io_i) = linio([mdl, '/dac_noise'],      1, 'input'); io_i = io_i + 1; % DAC n
 io(io_i) = linio([mdl, '/amp_noise'],      1, 'input'); io_i = io_i + 1; % Voltage Amplifier noise [V]
 io(io_i) = linio([mdl, '/NASS/adc_noise'], 1, 'input'); io_i = io_i + 1; % ADC noise [V]
 io(io_i) = linio([mdl, '/NASS/enc_noise'], 1, 'input'); io_i = io_i + 1; % Encoder noise [m]
-io(io_i) = linio([mdl, '/NASS'],           2, 'output', [], 'z');  io_i = io_i + 1; % Vertical error [m]
 io(io_i) = linio([mdl, '/NASS'],           2, 'output', [], 'y');  io_i = io_i + 1; % Lateral error [m]
+io(io_i) = linio([mdl, '/NASS'],           2, 'output', [], 'z');  io_i = io_i + 1; % Vertical error [m]
 
 Gd = linearize(mdl, io);
 Gd.InputName  = {...
@@ -114,9 +114,9 @@ rms_unit_asd_amp = sqrt(sum((unit_asd.*abs(squeeze(freqresp(Gd('z', 'namp1'), fr
 rms_unit_asd_adc = sqrt(sum((unit_asd.*abs(squeeze(freqresp(Gd('z', 'nad1' ), freqs, 'Hz'))).').^2));
 
 % Obtained maximum ASD for different instruments
-max_dac_asd = max_asd_z./rms_unit_asd_dac; % [V/sqrt(Hz)]
-max_amp_asd = max_asd_z./rms_unit_asd_amp; % [V/sqrt(Hz)]
-max_adc_asd = max_asd_z./rms_unit_asd_adc; % [V/sqrt(Hz)]
+max_dac_asd = max_asd_z./rms_unit_asd_dac % [V/sqrt(Hz)]
+max_amp_asd = max_asd_z./rms_unit_asd_amp % [V/sqrt(Hz)]
+max_adc_asd = max_asd_z./rms_unit_asd_adc % [V/sqrt(Hz)]
 
 % Estimation of the equivalent RMS noise
 max_dac_rms = 1e3*max_dac_asd*sqrt(5e3) % [mV RMS]

B4-nass-instrumentation/detail_instrumentation_3_characterization.m

@@ -283,8 +283,8 @@ tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'None');
 
 ax1 = nexttile([2,1]);
 hold on;
-plot(f, abs(G_dac_adc), 'color', colors(2,:), 'DisplayName', 'Measurement');
-plot(f, abs(squeeze(freqresp(G_delay, f, 'Hz'))), 'k--', 'DisplayName', 'Pure Delay');
+plot(f, abs(G_dac_adc), 'color', [colors(1,:), 0.5], 'linewidth', 2.5, 'DisplayName', 'Measurement');
+plot(f, abs(squeeze(freqresp(G_delay, f, 'Hz'))), '--', 'color', colors(1,:), 'DisplayName', 'Pure Delay');
 hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('Amplitude [V/V]'); set(gca, 'XTickLabel',[]);
@@ -294,8 +294,8 @@ leg.ItemTokenSize(1) = 15;
 
 ax2 = nexttile();
 hold on;
-plot(f, 180/pi*unwrap(angle(G_dac_adc)), 'color', colors(2,:));
-plot(f, 180/pi*unwrap(angle(squeeze(freqresp(G_delay, f, 'Hz')))), 'k--', 'DisplayName', 'Pure Delay');
+plot(f, 180/pi*unwrap(angle(G_dac_adc)), 'color', [colors(1,:), 0.5], 'linewidth', 2.5);
+plot(f, 180/pi*unwrap(angle(squeeze(freqresp(G_delay, f, 'Hz')))), '--', 'color', colors(1,:));
 hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
 xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
@@ -353,7 +353,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 xlabel('Frequency [Hz]'); ylabel('ASD [$V/\sqrt{Hz}$]');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
 leg.ItemTokenSize(1) = 15;
-ylim([1e-10, 4e-4]); xlim([1, 5e3]);
+ylim([1e-10, 1e-3]); xlim([1, 5e3]);
 xticks([1e0, 1e1, 1e2, 1e3])
 
 %% Load all the measurements

C5-test-bench-id31/test_id31_4_hac.m

@@ -204,10 +204,6 @@ wc = 2*pi*5; % [rad/s]
 % Integrator
 H_int = wc/s;
 
-% Lead to increase phase margin
-a  = 2;  % Amount of phase lead / width of the phase lead / high frequency gain
-H_lead = 1/sqrt(a)*(1 + s/(wc/sqrt(a)))/(1 + s/(wc*sqrt(a)));
-
 % Low Pass filter to increase robustness
 H_lpf = 1/(1 + s/2/pi/30);
 

C5-test-bench-id31/test_id31_5_experiments.m

@@ -307,7 +307,7 @@ win = hanning(Nfft);
 Noverlap = floor(Nfft/2);
 
 %% Open-Loop measurement
-data_ol_Wz180 = load('2023-08-11_16-51_m0_lac_off.mat'); % no rotation
+data_ol_Wz180 = load('2023-08-11_17-39_m0_lac_off_30rpm.mat');
 
 a = J_int_to_X*[data_ol_Wz180.d1; data_ol_Wz180.d2; data_ol_Wz180.d3; data_ol_Wz180.d4; data_ol_Wz180.d5];
 data_ol_Wz180.Dx_int = a(1,:);