2019-07-12 11:53:59 +02:00
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#+TITLE: Simscape Model of the Nano-Active-Stabilization-System
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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2019-07-15 11:07:24 +02:00
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ./index.html
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2019-07-12 11:53:59 +02:00
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
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#+HTML_MATHJAX: align: center tagside: right font: TeX
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2019-07-15 11:07:24 +02:00
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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2019-10-08 11:03:19 +02:00
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#+PROPERTY: header-args:matlab+ :tangle matlab/nass_simscape.m
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2019-07-15 11:07:24 +02:00
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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2019-10-14 16:42:53 +02:00
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
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2019-07-15 11:07:24 +02:00
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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2019-07-12 11:53:59 +02:00
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:END:
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2019-07-15 11:07:24 +02:00
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2019-12-11 17:08:53 +01:00
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Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.
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* Simulink Project ([[./simulink_project/index.org][link]])
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The project is managed with a Simulink Project.
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Such project is briefly presented [[./simulink_project/index.org][here]].
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* Simscape Model ([[./simscape/index.org][link]])
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The model of the NASS is based on Simulink and Simscape Multi-Body.
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Such toolbox is presented [[./simscape/index.org][here]].
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* Simscape Subsystems ([[./simscape_subsystems/index.org][link]])
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The model is decomposed of multiple subsystems.
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Subsystems can represent physical elements such as complete stages or basic simulink blocs.
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These subsystems are shared among multiple files.
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All these subsystems are described [[./simscape_subsystems/index.org][here]].
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* Kinematics of the Station ([[./kinematics/index.org][link]])
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First, we consider perfectly rigid elements and joints and we just study the kinematic of the station.
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This permits to test if each stage is moving correctly and if we are able to perform change of frame for the control.
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This is detailed [[./kinematics/index.org][here]].
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* Metrology ([[./metrology/index.org][link]])
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In this document (accessible [[./metrology/index.org][here]]), we discuss the measurement of the sample with respect to the granite.
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* Tuning of the Dynamics of the Simscape model ([[./identification/index.org][link]])
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From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.
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This is explained [[./identification/index.org][here]].
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* Disturbances ([[./disturbances/index.org][link]])
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The effect of disturbances on the position of the micro-station have been measured.
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These are now converted to force disturbances using the Simscape model.
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This is discussed [[./disturbances/index.org][here]].
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We also discuss how the disturbances are implemented in the model.
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* Tomography Experiment ([[./experiment_tomography/index.org][link]])
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Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
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Tomography experiments are simulated and the results are presented [[./experiment_tomography/index.org][here]].
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* Useful Matlab Functions ([[./functions/index.org][link]])
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Many matlab functions are shared among all the files of the projects.
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These functions are all defined [[./functions/index.org][here]].
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