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Thomas Dehaeze
2020-04-01 16:17:26 +02:00
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<head>
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<title>Control of the Nano-Active-Stabilization-System</title>
@@ -202,50 +202,28 @@
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@@ -286,7 +264,8 @@ for the JavaScript code in this tag.
<ul>
<li><a href="#orgd9c84f0">4.1. HAC-LAC using IFF and Tracking control in the frame of the Legs</a></li>
<li><a href="#orgeb80da1">4.2. HAC-LAC using IFF and Tracking control in the Cartesian frame</a></li>
<li><a href="#org6054c1a">4.3. HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite</a></li>
<li><a href="#org8b2b21e">4.3. HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the task space</a></li>
<li><a href="#org1c04b26">4.4. HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs</a></li>
</ul>
</li>
<li><a href="#orgab73896">5. Cascade Architectures (link)</a>
@@ -620,8 +599,8 @@ Usually, the Low Authority Controller is first design, and then the High Authori
</div>
</div>
<div id="outline-container-org6054c1a" class="outline-3">
<h3 id="org6054c1a"><span class="section-number-3">4.3</span> HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite</h3>
<div id="outline-container-org8b2b21e" class="outline-3">
<h3 id="org8b2b21e"><span class="section-number-3">4.3</span> HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the task space</h3>
<div class="outline-text-3" id="text-4-3">
<div class="figure">
@@ -630,6 +609,17 @@ Usually, the Low Authority Controller is first design, and then the High Authori
</div>
</div>
</div>
<div id="outline-container-org1c04b26" class="outline-3">
<h3 id="org1c04b26"><span class="section-number-3">4.4</span> HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs</h3>
<div class="outline-text-3" id="text-4-4">
<div class="figure">
<p><img src="figs/control_architecture_hac_iff_pos_L.png" alt="control_architecture_hac_iff_pos_L.png" />
</p>
</div>
</div>
</div>
</div>
<div id="outline-container-orgab73896" class="outline-2">
@@ -639,13 +629,13 @@ Usually, the Low Authority Controller is first design, and then the High Authori
<a id="orga038762"></a>
</p>
<p>
The principle of Cascade control is shown in Figure <a href="#org03ef231">12</a> and explained as follow:
The principle of Cascade control is shown in Figure <a href="#org03ef231">13</a> and explained as follow:
</p>
<blockquote>
<p>
To follow <b>two objectives</b> with different properties in one control system, usually a <b>hierarchy</b> of two feedback loops is used in practice.
This kind of control topology is called <b>cascade control</b>, which is used when there are <b>several measurements and one prime control variable</b>.
Cascade control is implemented by <b>nesting</b> the control loops, as shown in Figure <a href="#org03ef231">12</a>.
Cascade control is implemented by <b>nesting</b> the control loops, as shown in Figure <a href="#org03ef231">13</a>.
The output control loop is called the <b>primary loop</b>, while the inner loop is called the secondary loop and is used to fulfill a secondary objective in the closed-loop system. &#x2013; <a class='org-ref-reference' href="#taghirad13_paral">taghirad13_paral</a>
</p>
</blockquote>
@@ -654,7 +644,7 @@ The output control loop is called the <b>primary loop</b>, while the inner loop
<div id="org03ef231" class="figure">
<p><img src="figs/control_architecture_cascade_control.png" alt="control_architecture_cascade_control.png" />
</p>
<p><span class="figure-number">Figure 12: </span>Cascade Control Architecture</p>
<p><span class="figure-number">Figure 13: </span>Cascade Control Architecture</p>
</div>
<p>
@@ -679,7 +669,7 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
<div id="orgff7dfc6" class="figure">
<p><img src="figs/control_architecture_cascade_L.png" alt="control_architecture_cascade_L.png" />
</p>
<p><span class="figure-number">Figure 13: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the frame of the Legs</p>
<p><span class="figure-number">Figure 14: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the frame of the Legs</p>
</div>
</div>
</div>
@@ -691,7 +681,7 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
<div id="org4bc4c4c" class="figure">
<p><img src="figs/control_architecture_cascade_X.png" alt="control_architecture_cascade_X.png" />
</p>
<p><span class="figure-number">Figure 14: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the Cartesian Frame</p>
<p><span class="figure-number">Figure 15: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the Cartesian Frame</p>
</div>
</div>
</div>
@@ -728,7 +718,7 @@ Signals:
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
<p class="date">Created: 2020-04-01 mer. 16:16</p>
</div>
</body>
</html>