86 lines
4.9 KiB
Org Mode
86 lines
4.9 KiB
Org Mode
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#+TITLE: Simscape model - Report
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#+LATEX_CLASS: cleanreport
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#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak]
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#+STARTUP: overview
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#+DATE: 11-2018
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#+LaTeX_HEADER: \newcommand{\authorFirstName}{Thomas}
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#+LaTeX_HEADER: \newcommand{\authorLastName}{Dehaeze}
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#+LaTeX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
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#+LaTeX_HEADER: \input{config.tex}
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* Simscape files for identification
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|------------------------+----+----+----+------+------|
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| Simscape Name | Ty | Ry | Rz | Hexa | NASS |
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|------------------------+----+----+----+------+------|
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| id micro station | F | F | F | F | |
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| id nano station stages | F | F | F | F | F |
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| id nano station config | D | D | D | D | F |
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| control nano station | D | D | D | D | F |
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|------------------------+----+----+----+------+------|
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* Inputs
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** Perturbations
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|----------+--------------------------------------+------+------|
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| Variable | Meaning | Size | Unit |
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|----------+--------------------------------------+------+------|
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| ~Dw~ | Ground motion | 3 | [m] |
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| ~Fg~ | External force applied on granite | 3 | [N] |
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| ~Fs~ | External force applied on the Sample | 3 | [N] |
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|----------+--------------------------------------+------+------|
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** Measurement Noise
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|----------+---------+------+------|
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| Variable | Meaning | Size | Unit |
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|----------+---------+------+------|
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| | | | |
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|----------+---------+------+------|
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** Control Inputs
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|----------+-------------------------------------------+------+----------|
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| Variable | Meaning | Size | Unit |
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|----------+-------------------------------------------+------+----------|
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| ~Fy~ | Actuation force for Ty | 1 | [N] |
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| ~Dy~ | Imposed displacement for Ty | 1 | [m] |
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|----------+-------------------------------------------+------+----------|
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| ~My~ | Actuation torque for Ry | 1 | [N.m] |
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| ~Ry~ | Imposed rotation for Ry | 1 | [rad] |
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|----------+-------------------------------------------+------+----------|
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| ~Mz~ | Actuation torque for Rz | 1 | [N.m] |
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| ~Rz~ | Imposed rotation for Rz | 1 | [rad] |
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|----------+-------------------------------------------+------+----------|
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| ~Fh~ | Actuation force/torque for hexapod (cart) | 6 | [N, N.m] |
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| ~Fhl~ | Actuation force/torque for hexapod (legs) | 6 | [N] |
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| ~Dh~ | Imposed position for hexapod (cart) | 6 | [m, rad] |
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|----------+-------------------------------------------+------+----------|
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| ~Rm~ | Position of the two masses | 2 | [rad] |
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|----------+-------------------------------------------+------+----------|
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| ~Fn~ | Actuation force for the NASS (cart) | 6 | [N, N.m] |
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| ~Fnl~ | Actuation force for the NASS's legs | 6 | [N] |
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| ~Dn~ | Imposed position for the NASS (cart) | 6 | [m, rad] |
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|----------+-------------------------------------------+------+----------|
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* Outputs
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|----------+---------------------------------------------+------+--------------|
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| Variable | Meaning | Size | Unit |
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|----------+---------------------------------------------+------+--------------|
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| ~Dgm~ | Absolute displacement of the granite | 3 | [m] |
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| ~Vgm~ | Absolute Velocity of the granite | 3 | [m/s] |
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|----------+---------------------------------------------+------+--------------|
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| ~Dym~ | Measured displacement of Ty | 1 | [m] |
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|----------+---------------------------------------------+------+--------------|
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| ~Rym~ | Measured rotation of Ry | 1 | [rad] |
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|----------+---------------------------------------------+------+--------------|
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| ~Rzm~ | Measured rotation of Rz | 1 | [rad] |
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|----------+---------------------------------------------+------+--------------|
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| ~Dhm~ | Measured position of hexapod (cart) | 6 | [m, rad] |
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|----------+---------------------------------------------+------+--------------|
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| ~Fnlm~ | Measured force of NASS's legs | 6 | [N] |
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| ~Dnlm~ | Measured elongation of NASS's legs | 6 | [m] |
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| ~Dnm~ | Measured position of NASS w.r.t NASS's base | 6 | [m, rad] |
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| ~Vnm~ | Measured absolute velocity of NASS platform | 6 | [m/s, rad/s] |
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| ~Vnlm~ | Measured absolute velocity of NASS's legs | 6 | [m/s] |
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|----------+---------------------------------------------+------+--------------|
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| ~Dsm~ | Position of Sample w.r.t. granite frame | 6 | [m, rad] |
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|----------+---------------------------------------------+------+--------------|
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