Remove useless simscape models
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@ -276,7 +276,7 @@ We identify the dynamics of the system using the =linearize= function.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
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#+end_src
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@ -426,7 +426,7 @@ We change the simulation stop time.
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And we simulate the system.
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#+begin_src matlab
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sim('sim_nass_active_damping');
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sim('nass_model');
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#+end_src
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Finally, we save the simulation results for further analysis
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@ -565,7 +565,7 @@ We initialize all the stages with the default parameters.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@ -745,7 +745,7 @@ We initialize all the stages with the default parameters.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@ -924,7 +924,7 @@ We initialize all the stages with the default parameters.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@ -1256,7 +1256,7 @@ We initialize all the stages with the default parameters.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@ -1444,7 +1444,7 @@ We initialize all the stages with the default parameters.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@ -1846,8 +1846,8 @@ We identify the dynamics of the system using the =linearize= function.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
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#+end_src
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We identify the dynamics for the following sample mass.
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@ -2034,7 +2034,7 @@ We change the simulation stop time.
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And we simulate the system.
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#+begin_src matlab
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sim('sim_nass_active_damping');
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sim('nass_model');
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#+end_src
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Finally, we save the simulation results for further analysis
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@ -2326,8 +2326,8 @@ We identify the dynamics of the system using the =linearize= function.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
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#+end_src
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We identify the dynamics for the following sample mass.
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@ -2514,7 +2514,7 @@ We change the simulation stop time.
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And we simulate the system.
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#+begin_src matlab
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sim('sim_nass_active_damping');
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sim('nass_model');
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#+end_src
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Finally, we save the simulation results for further analysis
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@ -2801,8 +2801,8 @@ We identify the dynamics of the system using the =linearize= function.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
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#+end_src
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We identify the dynamics for the following sample mass.
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@ -3545,7 +3545,7 @@ We log the signals.
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io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwx'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwy'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwz'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io, options);
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@ -3564,8 +3564,8 @@ We log the signals.
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io, options);
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@ -3637,57 +3637,6 @@ We log the signals.
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linkaxes([ax1,ax2],'x');
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#+end_src
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*** TODO test
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#+begin_src matlab
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Micro-Station/Dy'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io, options);
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G.InputName = {'Dy'};
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G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
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#+end_src
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#+begin_important
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Why is the transfer function from Ty displacement to position error is equal to
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1 at all frequencies?
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Why don't we see any resonance?
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#+end_important
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#+begin_src matlab :exports none
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G('Edy', 'Dy(1)'), freqs, 'Hz'))), 'DisplayName', '$T_{x}$');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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legend('location', 'southwest')
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G('Edy', 'Dy(1)'), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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#+end_src
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*** Sensitivity to disturbances
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The sensitivity to disturbances are shown on figure [[fig:sensitivity_dist_undamped]].
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@ -1 +0,0 @@
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../figs
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@ -1,346 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2019-12-11 mer. 17:33 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Metrology</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<style type="text/css">
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<!--/*--><![CDATA[/*><!--*/
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.title { text-align: center;
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margin-bottom: .2em; }
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.subtitle { text-align: center;
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font-size: medium;
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font-weight: bold;
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margin-top:0; }
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.todo { font-family: monospace; color: red; }
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padding: 2px; font-size: 80%; font-weight: normal; }
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.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
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.org-center { margin-left: auto; margin-right: auto; text-align: center; }
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.underline { text-decoration: underline; }
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#postamble p, #preamble p { font-size: 90%; margin: .2em; }
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p.verse { margin-left: 3%; }
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pre {
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border: 1px solid #ccc;
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box-shadow: 3px 3px 3px #eee;
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padding: 8pt;
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font-family: monospace;
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overflow: auto;
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margin: 1.2em;
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}
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pre.src {
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position: relative;
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overflow: visible;
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padding-top: 1.2em;
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}
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pre.src:before {
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display: none;
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position: absolute;
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background-color: white;
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top: -10px;
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right: 10px;
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padding: 3px;
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border: 1px solid black;
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}
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Copyright (C) 2012-2019 Free Software Foundation, Inc.
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As additional permission under GNU GPL version 3 section 7, you
|
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may distribute non-source (e.g., minimized or compacted) forms of
|
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that code without the copy of the GNU GPL normally required by
|
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section 4, provided you include this license notice and a URL
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</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="../index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="../index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Metrology</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgdf449a5">1. How do we measure the position of the sample with respect to the granite</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The global measurement and control schematic is shown in figure <a href="#org1be8cfd">1</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org1be8cfd" class="figure">
|
||||
<p><img src="figs/control-schematic-nass.png" alt="control-schematic-nass.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Global Control Schematic for the Station</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
In this document, are interesting by the "compute Sample Position w.r.t. Granite" bloc.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
First, in section <a href="#org09b824d">1</a>, is explained how the measurement of the position of the sample with respect to the granite is performed (using Simscape blocs).
|
||||
</p>
|
||||
|
||||
<div id="outline-container-orgdf449a5" class="outline-2">
|
||||
<h2 id="orgdf449a5"><span class="section-number-2">1</span> How do we measure the position of the sample with respect to the granite</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
<a id="org09b824d"></a>
|
||||
A transform sensor block gives the translation and orientation of the follower frame with respect to the base frame.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The base frame is fixed to the granite and located at the initial sample location that defines the zero position.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The follower frame is attached to the sample (or more precisely to the reflector).
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The outputs of the transform sensor are:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>the 3 translations x, y and z in meter</li>
|
||||
<li>the <b>rotation matrix</b> \(\bm{R}\) that permits to rotate the base frame into the follower frame.</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
We can then determine extract other orientation conventions such that Euler angles or screw axis.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2019-12-11 mer. 17:33</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
@ -1,67 +0,0 @@
|
||||
#+TITLE: Metrology
|
||||
:DRAWER:
|
||||
#+STARTUP: overview
|
||||
|
||||
#+LANGUAGE: en
|
||||
#+EMAIL: dehaeze.thomas@gmail.com
|
||||
#+AUTHOR: Dehaeze Thomas
|
||||
|
||||
#+HTML_LINK_HOME: ../index.html
|
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#+HTML_LINK_UP: ../index.html
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|
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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:END:
|
||||
|
||||
* Introduction :ignore:
|
||||
The global measurement and control schematic is shown in figure [[fig:control-schematic-nass]].
|
||||
|
||||
#+name: fig:control-schematic-nass
|
||||
#+caption: Global Control Schematic for the Station
|
||||
[[file:figs/control-schematic-nass.png]]
|
||||
|
||||
In this document, are interesting by the "compute Sample Position w.r.t. Granite" bloc.
|
||||
|
||||
First, in section [[sec:measurement_principle]], is explained how the measurement of the position of the sample with respect to the granite is performed (using Simscape blocs).
|
||||
|
||||
* How do we measure the position of the sample with respect to the granite
|
||||
<<sec:measurement_principle>>
|
||||
A transform sensor block gives the translation and orientation of the follower frame with respect to the base frame.
|
||||
|
||||
The base frame is fixed to the granite and located at the initial sample location that defines the zero position.
|
||||
|
||||
The follower frame is attached to the sample (or more precisely to the reflector).
|
||||
|
||||
The outputs of the transform sensor are:
|
||||
- the 3 translations x, y and z in meter
|
||||
- the *rotation matrix* $\bm{R}$ that permits to rotate the base frame into the follower frame.
|
||||
|
||||
We can then determine extract other orientation conventions such that Euler angles or screw axis.
|
||||
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Block a user