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Add a control architecture

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Thomas Dehaeze 2020-03-27 10:43:20 +01:00
parent 8c6768f372
commit 30e66d0d7a
3 changed files with 38 additions and 1 deletions
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@ -477,7 +477,7 @@ Usually, the Low Authority Controller is first design, and then the High Authori
#+RESULTS: #+RESULTS:
[[file:figs/control_architecture_hac_iff_X.png]] [[file:figs/control_architecture_hac_iff_X.png]]
** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite ** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the task space
#+begin_src latex :file control_architecture_hac_iff_pos_X.pdf #+begin_src latex :file control_architecture_hac_iff_pos_X.pdf
\begin{tikzpicture} \begin{tikzpicture}
% Blocs % Blocs
@ -514,6 +514,43 @@ Usually, the Low Authority Controller is first design, and then the High Authori
#+RESULTS: #+RESULTS:
[[file:figs/control_architecture_hac_iff_pos_X.png]] [[file:figs/control_architecture_hac_iff_pos_X.png]]
** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs
#+begin_src latex :file control_architecture_hac_iff_pos_L.pdf
\begin{tikzpicture}
% Blocs
\node[block={3.0cm}{3.0cm}] (P) {Plant};
\coordinate[] (inputF) at ($(P.south west)!0.5!(P.north west)$);
\coordinate[] (outputF) at ($(P.south east)!0.8!(P.north east)$);
\coordinate[] (outputX) at ($(P.south east)!0.5!(P.north east)$);
\coordinate[] (outputL) at ($(P.south east)!0.2!(P.north east)$);
\node[block, above=0.4 of P] (Kiff) {$\bm{K}_\text{IFF}$};
\node[addb={+}{}{-}{}{}, left= of inputF] (addF) {};
\node[block, left= of addF] (K) {$\bm{K}_\mathcal{L}$};
\node[block, left= of K] (J) {$\bm{J}$};
\node[block, align=center, left= of J] (Ex) {Compute\\Pos. Error};
% Connections and labels
\draw[->] (outputF) -- ++(1, 0) node[below left]{$\bm{\tau}_m$};
\draw[->] ($(outputF) + (0.6, 0)$)node[branch]{} |- (Kiff.east);
\draw[->] (Kiff.west) -| (addF.north);
\draw[->] (addF.east) -- (inputF) node[above left]{$\bm{\tau}$};
\draw[->] (outputL) -- ++(1, 0) node[above left]{$d\bm{\mathcal{L}}$};
\draw[->] (outputX) -- ++(1.6, 0) node[above left]{$\bm{\mathcal{X}}$};
\draw[->] ($(outputX) + (1.2, 0)$)node[branch]{} -- ++(0, -2) -| (Ex.south);
\draw[<-] (Ex.west)node[above left]{$\bm{r}_{\mathcal{X}}$} -- ++(-1, 0);
\draw[->] (Ex.east) -- (J.west) node[above left]{$\bm{\epsilon}_{\mathcal{X}_n}$};
\draw[->] (J.east) -- (K.west) node[above left]{$\bm{\epsilon}_{\mathcal{L}}$};
\draw[->] (K.east) -- (addF.west) node[above left]{$\bm{\tau}^\prime$};
\end{tikzpicture}
#+end_src
#+RESULTS:
[[file:figs/control_architecture_hac_iff_pos_L.png]]
* Cascade Architectures ([[file:control_cascade.org][link]]) * Cascade Architectures ([[file:control_cascade.org][link]])
<<sec:cascade_control>> <<sec:cascade_control>>
** Introduction :ignore: ** Introduction :ignore: