Add noise budgeting to HAC-DVF control

This commit is contained in:
Thomas Dehaeze 2020-04-15 16:01:54 +02:00
parent 8e6a41d686
commit 5a4d72d8cc
19 changed files with 13408 additions and 5504 deletions

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@ -534,6 +534,43 @@ Usually, the Low Authority Controller is first design, and then the High Authori
#+RESULTS:
[[file:figs/control_architecture_hac_iff_pos_L.png]]
** HAC-LAC using DVF - 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_dvf_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, below=0.2 of P] (Kdvf) {$\bm{K}_\text{DVF}$};
\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[above left]{$\bm{\tau}_m$};
\draw[->] (outputL) -- ++(1, 0) node[above left]{$d\bm{\mathcal{L}}$};
\draw[->] ($(outputL) + (0.6, 0)$)node[branch]{} |- (Kdvf.east);
\draw[->] (Kdvf.west) -| (addF.south);
\draw[->] (addF.east) -- (inputF) node[above left]{$\bm{\tau}$};
\draw[->] (outputX) -- ++(1.6, 0) node[above left]{$\bm{\mathcal{X}}$};
\draw[->] ($(outputX) + (1.2, 0)$)node[branch]{} -- ++(0, -3) -| (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_dvf_pos_L.png]]
* Cascade Architectures ([[file:control_cascade.org][link]])
<<sec:cascade_control>>
** Introduction :ignore:

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