Add Newport Controller

index.org

@@ -1949,10 +1949,14 @@ We compute the Power Spectral Density of the voltage across the inductance used
 #+end_src
 
 * Plant Scaling
-- measured noise
+|                        | Value | Unit        |   |
-- expected perturbations
+|------------------------+-------+-------------+---|
-- maximum input usage
+| Expected perturbations |     1 | [V]         | $U_n$ |
-- maximum wanted error
+| Maximum input usage    |    10 | [V]         | $U_c$ |
+| Maximum wanted error   |    10 | [$\mu rad$] | $\theta$ |
+| Measured noise         |     5 | [$\mu rad$] |   |
+
+** General Configuration
 
 * Plant Analysis
 ** Matlab Init                                              :noexport:ignore:
@@ -2157,4 +2161,155 @@ The diagonal controller is accessible [[./mat/K_diag.mat][here]].
   save('mat/K_diag.mat', 'K', 'Kd');
 #+end_src
 
+* Newport Control
+** Introduction                                                     :ignore:
+In this section, we try to implement a simple decentralized controller for the Newport.
+This can be used to align the 4QD:
+- once there is a signal from the 4QD, the Newport feedback loop is closed
+- thus, the Newport is positioned such that the beam hits the center of the 4QD
+- then we can move the 4QD manually in X-Y plane in order to cancel the command signal of the Newport
+- finally, we are sure to be aligned when the command signal of the Newport is 0
+
+** Matlab Init                                             :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+  <<matlab-init>>
+#+end_src
+
+#+begin_src matlab
+  freqs = logspace(0, 2, 1000);
+#+end_src
+
+** Load Plant
+#+begin_src matlab
+  load('mat/plant.mat', 'Gn', 'Gd');
+#+end_src
+
+** Analysis
+The plant is basically a constant until frequencies up to the required bandwidth.
+
+We get that constant value.
+#+begin_src matlab
+  Gn0 = freqresp(inv(Gd)*Gn, 0);
+#+end_src
+
+We design two controller containing 2 integrators and one lead near the crossover frequency set to 10Hz.
+#+begin_src matlab
+  h = 2;
+  w0 = 2*pi*10;
+
+  Knh = 1/Gn0(1,1) * (w0/s)^2 * (1 + s/w0*h)/(1 + s/w0/h)/h;
+  Knv = 1/Gn0(2,2) * (w0/s)^2 * (1 + s/w0*h)/(1 + s/w0/h)/h;
+#+end_src
+
+#+begin_src matlab :exports none
+  figure;
+
+  hold on;
+  plot(freqs, abs(squeeze(freqresp(Gn0(1,1)*Knh, freqs, 'Hz'))))
+  hold off;
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('Loop Gain');
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/loop_gain_newport.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:loop_gain_newport
+#+CAPTION: Diagonal Loop Gain for the Newport ([[./figs/loop_gain_newport.png][png]], [[./figs/loop_gain_newport.pdf][pdf]])
+[[file:figs/loop_gain_newport.png]]
+
+** Save
+The controllers can be downloaded [[./mat/K_newport.mat][here]].
+
+#+begin_src matlab
+  save('mat/K_newport.mat', 'Knh', 'Knv');
+#+end_src
+
 * Measurement of the non-repeatability
+** Matlab Init                                              :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+  <<matlab-init>>
+#+end_src
+
+** Data Load
+#+begin_src matlab
+  load('mat/data_rep_1.mat', ...
+       't', 'Uch', 'Ucv', ...
+       'Unh', 'Unv', ...
+       'Vph', 'Vpv', ...
+       'Vch', 'Vcv', ...
+       'Vnh', 'Vnv', ...
+       'Va');
+#+end_src
+
+#+begin_src matlab
+  t0 = 5;
+
+  Uch(t<t0) = [];
+  Ucv(t<t0) = [];
+  Unh(t<t0) = [];
+  Unv(t<t0) = [];
+  Vph(t<t0) = [];
+  Vpv(t<t0) = [];
+  Vch(t<t0) = [];
+  Vcv(t<t0) = [];
+  Vnh(t<t0) = [];
+  Vnv(t<t0) = [];
+  Va(t<t0)  = [];
+  t(t<t0)   = [];
+
+  t = t - t(1); % We start at t=0
+#+end_src
+
+** TODO Some Plots
+
+** Repeatability
+#+begin_src matlab :exports none
+  figure;
+  ax1 = subplot(1, 2, 1);
+  hold on;
+  plot(Vnh, Va);
+  hold off;
+  xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [m]');
+
+  ax2 = subplot(1, 2, 2);
+  hold on;
+  plot(Vnv, Va);
+  hold off;
+  xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [m]');
+#+end_src
+
+
+#+begin_src matlab
+  bh = [ones(size(Vnh)) Vnh]\Vph;
+  bv = [ones(size(Vnv)) Vnv]\Vpv;
+#+end_src
+
+#+begin_src matlab :exports none
+  figure;
+  ax1 = subplot(1, 2, 1);
+  hold on;
+  plot(2*gn0*uh.Vnh, uh.Vph, 'o', 'DisplayName', 'Exp. data');
+  plot(2*gn0*[min(uh.Vnh) max(uh.Vnh)], 2*gn0*[min(uh.Vnh) max(uh.Vnh)].*bh(2) + bh(1), 'k--', 'DisplayName', sprintf('%.1e x + %.1e', bh(2), bh(1)))
+  hold off;
+  xlabel('$\alpha_{0,h}$ [rad]'); ylabel('$Vp_h$ [V]');
+  legend();
+
+  ax2 = subplot(1, 2, 2);
+  hold on;
+  plot(2*gn0*uv.Vnv, uv.Vpv, 'o', 'DisplayName', 'Exp. data');
+  plot(2*gn0*[min(uv.Vnv) max(uv.Vnv)], 2*gn0*[min(uv.Vnv) max(uv.Vnv)].*bv(2) + bv(1), 'k--', 'DisplayName', sprintf('%.1e x + %.1e', bv(2), bv(1)))
+  hold off;
+  xlabel('$\alpha_{0,v}$ [rad]'); ylabel('$Vp_v$ [V]');
+  legend();
+#+end_src