diff --git a/index.html b/index.html index 39c2759..d9fa8b0 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Simscape Model of the Nano-Active-Stabilization-System @@ -258,15 +258,16 @@ for the JavaScript code in this tag.

Table of Contents

@@ -275,8 +276,8 @@ for the JavaScript code in this tag. Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.

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1 Simulink Project (link)

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1 Simulink Project (link)

The project is managed with a Simulink Project. @@ -285,8 +286,8 @@ Such project is briefly presented here

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2 Simscape Model (link)

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2 Simscape Model (link)

The model of the NASS is based on Simulink and Simscape Multi-Body. @@ -295,8 +296,8 @@ Such toolbox is presented here.

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3 Simscape Subsystems (link)

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3 Simscape Subsystems (link)

The model is decomposed of multiple subsystems. @@ -310,19 +311,19 @@ All these subsystems are described he

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4 Kinematics of the Station (link)

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4 Kinematics of the Station (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 permits to test if each stage is moving correctly. This is detailed here.

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5 Metrology (link)

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5 Metrology (link)

In this document (accessible here), we discuss the measurement of the sample with respect to the granite. @@ -330,10 +331,20 @@ In this document (accessible here), we disc

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6 Tuning of the Dynamics of the Simscape model (link)

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6 Computation of the positioning error of the Sample (link)

+From the measurement of the position of the sample with respect to the granite and from the wanted position of each stage, we can compute the positioning error of the sample with respect to the nano-hexapod. +This is done here. +

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7 Tuning of the Dynamics of the Simscape model (link)

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From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.

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7 Disturbances (link)

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8 Disturbances (link)

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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. @@ -361,9 +372,9 @@ We also discuss how the disturbances are implemented in the model.

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8 Tomography Experiment (link)

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9 Tomography Experiment (link)

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Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.

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9 Useful Matlab Functions (link)

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10 Useful Matlab Functions (link)

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Many matlab functions are shared among all the files of the projects.

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Author: Dehaeze Thomas

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Created: 2019-12-11 mer. 16:19

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Created: 2019-12-11 mer. 17:34

Validate

diff --git a/index.org b/index.org index 53acc0e..8a2ac1c 100644 --- a/index.org +++ b/index.org @@ -60,12 +60,16 @@ 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 permits to test if each stage is moving correctly. 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. +* Computation of the positioning error of the Sample ([[./positioning_error/index.org][link]]) +From the measurement of the position of the sample with respect to the granite and from the wanted position of each stage, we can compute the positioning error of the sample with respect to the nano-hexapod. +This is done [[./positioning_error/index.org][here]]. + * 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.