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Thomas Dehaeze 2019-12-11 17:08:53 +01:00
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index.html
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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2019-12-04 mer. 10:18 -->
<!-- 2019-12-11 mer. 16:19 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Simscape Model of the Nano-Active-Stabilization-System</title>
@ -254,23 +254,142 @@ for the JavaScript code in this tag.
<a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Simscape Model of the Nano-Active-Stabilization-System</h1>
<ul class="org-ul">
<li><a href="identification/index.html">Identification of the Micro-Station</a></li>
<li><a href="uniaxial/index.html">Uniaxial Model</a></li>
<li><a href="kinematics/index.html">Kinematics of the station</a></li>
<li><a href="control/index.html">Control</a></li>
<li><a href="active_damping/index.html">Active Damping</a></li>
<li><a href="analysis/index.html">Plant Analysis</a></li>
<li><a href="hac_lac/index.html">HAC LAC</a></li>
<li><a href="kinematics/index.html">Kinematics</a></li>
<li><a href="modal_test/index.html">Modal Analysis</a></li>
<li><a href="cedrat-actuator/index.html">Cedrat Piezo Actuator</a></li>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgd3c31fc">1. Simulink Project (link)</a></li>
<li><a href="#orge9886ba">2. Simscape Model (link)</a></li>
<li><a href="#org9756af9">3. Simscape Subsystems (link)</a></li>
<li><a href="#orgfd2a136">4. Kinematics of the Station (link)</a></li>
<li><a href="#org44103c3">5. Metrology (link)</a></li>
<li><a href="#orga25d254">6. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#org4affbbc">7. Disturbances (link)</a></li>
<li><a href="#orgbb796cb">8. Tomography Experiment (link)</a></li>
<li><a href="#org383ef96">9. Useful Matlab Functions (link)</a></li>
</ul>
</div>
</div>
<p>
Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.
</p>
<div id="outline-container-orgd3c31fc" class="outline-2">
<h2 id="orgd3c31fc"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-1">
<p>
The project is managed with a Simulink Project.
Such project is briefly presented <a href="./simulink_project/index.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-orge9886ba" class="outline-2">
<h2 id="orge9886ba"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-2">
<p>
The model of the NASS is based on Simulink and Simscape Multi-Body.
Such toolbox is presented <a href="./simscape/index.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-org9756af9" class="outline-2">
<h2 id="org9756af9"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-3">
<p>
The model is decomposed of multiple subsystems.
Subsystems can represent physical elements such as complete stages or basic simulink blocs.
These subsystems are shared among multiple files.
</p>
<p>
All these subsystems are described <a href="./simscape_subsystems/index.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-orgfd2a136" class="outline-2">
<h2 id="orgfd2a136"><span class="section-number-2">4</span> Kinematics of the Station (<a href="./kinematics/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-4">
<p>
First, we consider perfectly rigid elements and joints and we just study the kinematic of the station.
This permits to test if each stage is moving correctly and if we are able to perform change of frame for the control.
This is detailed <a href="./kinematics/index.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-org44103c3" class="outline-2">
<h2 id="org44103c3"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-5">
<p>
In this document (accessible <a href="./metrology/index.html">here</a>), we discuss the measurement of the sample with respect to the granite.
</p>
</div>
</div>
<div id="outline-container-orga25d254" class="outline-2">
<h2 id="orga25d254"><span class="section-number-2">6</span> Tuning of the Dynamics of the Simscape model (<a href="./identification/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-6">
<p>
From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.
</p>
<p>
This is explained <a href="./identification/index.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-org4affbbc" class="outline-2">
<h2 id="org4affbbc"><span class="section-number-2">7</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
The effect of disturbances on the position of the micro-station have been measured.
These are now converted to force disturbances using the Simscape model.
</p>
<p>
This is discussed <a href="./disturbances/index.html">here</a>.
</p>
<p>
We also discuss how the disturbances are implemented in the model.
</p>
</div>
</div>
<div id="outline-container-orgbb796cb" class="outline-2">
<h2 id="orgbb796cb"><span class="section-number-2">8</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-8">
<p>
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
</p>
<p>
Tomography experiments are simulated and the results are presented <a href="./experiment_tomography/index.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-org383ef96" class="outline-2">
<h2 id="org383ef96"><span class="section-number-2">9</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-9">
<p>
Many matlab functions are shared among all the files of the projects.
</p>
<p>
These functions are all defined <a href="./functions/index.html">here</a>.
</p>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-12-04 mer. 10:18</p>
<p class="date">Created: 2019-12-11 mer. 16:19</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
</body>

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@ -41,13 +41,50 @@
#+PROPERTY: header-args:latex+ :output-dir figs
:END:
- [[file:identification/index.org][Identification of the Micro-Station]]
- [[file:uniaxial/index.org][Uniaxial Model]]
- [[file:kinematics/index.org][Kinematics of the station]]
- [[file:control/index.org][Control]]
- [[file:active_damping/index.org][Active Damping]]
- [[file:analysis/index.org][Plant Analysis]]
- [[file:hac_lac/index.org][HAC LAC]]
- [[file:kinematics/index.org][Kinematics]]
- [[file:modal_test/index.org][Modal Analysis]]
- [[file:cedrat-actuator/index.org][Cedrat Piezo Actuator]]
Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.
* Simulink Project ([[./simulink_project/index.org][link]])
The project is managed with a Simulink Project.
Such project is briefly presented [[./simulink_project/index.org][here]].
* Simscape Model ([[./simscape/index.org][link]])
The model of the NASS is based on Simulink and Simscape Multi-Body.
Such toolbox is presented [[./simscape/index.org][here]].
* Simscape Subsystems ([[./simscape_subsystems/index.org][link]])
The model is decomposed of multiple subsystems.
Subsystems can represent physical elements such as complete stages or basic simulink blocs.
These subsystems are shared among multiple files.
All these subsystems are described [[./simscape_subsystems/index.org][here]].
* Kinematics of the Station ([[./kinematics/index.org][link]])
First, we consider perfectly rigid elements and joints and we just study the kinematic of the station.
This permits to test if each stage is moving correctly and if we are able to perform change of frame for the control.
This is detailed [[./kinematics/index.org][here]].
* Metrology ([[./metrology/index.org][link]])
In this document (accessible [[./metrology/index.org][here]]), we discuss the measurement of the sample with respect to the granite.
* Tuning of the Dynamics of the Simscape model ([[./identification/index.org][link]])
From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.
This is explained [[./identification/index.org][here]].
* Disturbances ([[./disturbances/index.org][link]])
The effect of disturbances on the position of the micro-station have been measured.
These are now converted to force disturbances using the Simscape model.
This is discussed [[./disturbances/index.org][here]].
We also discuss how the disturbances are implemented in the model.
* Tomography Experiment ([[./experiment_tomography/index.org][link]])
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
Tomography experiments are simulated and the results are presented [[./experiment_tomography/index.org][here]].
* Useful Matlab Functions ([[./functions/index.org][link]])
Many matlab functions are shared among all the files of the projects.
These functions are all defined [[./functions/index.org][here]].