tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Update index links

Browse Source
This commit is contained in:
Thomas Dehaeze 2019-12-11 17:34:26 +01:00
parent 9d3e584930
commit 6541ee4002
2 changed files with 49 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

77
index.html
View File

@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2019-12-11 mer. 16:19 --> <!-- 2019-12-11 mer. 17:34 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" /> <meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Simscape Model of the Nano-Active-Stabilization-System</title> <title>Simscape Model of the Nano-Active-Stabilization-System</title>
@ -258,15 +258,16 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2> <h2>Table of Contents</h2>
<div id="text-table-of-contents"> <div id="text-table-of-contents">
<ul> <ul>
<li><a href="#orgd3c31fc">1. Simulink Project (link)</a></li> <li><a href="#orgaa8ca21">1. Simulink Project (link)</a></li>
<li><a href="#orge9886ba">2. Simscape Model (link)</a></li> <li><a href="#org7775a17">2. Simscape Model (link)</a></li>
<li><a href="#org9756af9">3. Simscape Subsystems (link)</a></li> <li><a href="#orga13404c">3. Simscape Subsystems (link)</a></li>
<li><a href="#orgfd2a136">4. Kinematics of the Station (link)</a></li> <li><a href="#org8c0b007">4. Kinematics of the Station (link)</a></li>
<li><a href="#org44103c3">5. Metrology (link)</a></li> <li><a href="#org42af553">5. Metrology (link)</a></li>
<li><a href="#orga25d254">6. Tuning of the Dynamics of the Simscape model (link)</a></li> <li><a href="#orgfdae0ad">6. Computation of the positioning error of the Sample (link)</a></li>
<li><a href="#org4affbbc">7. Disturbances (link)</a></li> <li><a href="#org300e6d1">7. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#orgbb796cb">8. Tomography Experiment (link)</a></li> <li><a href="#orgb3d20cb">8. Disturbances (link)</a></li>
<li><a href="#org383ef96">9. Useful Matlab Functions (link)</a></li> <li><a href="#org543e2e5">9. Tomography Experiment (link)</a></li>
<li><a href="#org2f00ace">10. Useful Matlab Functions (link)</a></li>
</ul> </ul>
</div> </div>
</div> </div>
@ -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. Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.
</p> </p>
<div id="outline-container-orgd3c31fc" class="outline-2"> <div id="outline-container-orgaa8ca21" class="outline-2">
<h2 id="orgd3c31fc"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project/index.html">link</a>)</h2> <h2 id="orgaa8ca21"><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"> <div class="outline-text-2" id="text-1">
<p> <p>
The project is managed with a Simulink Project. The project is managed with a Simulink Project.
@ -285,8 +286,8 @@ Such project is briefly presented <a href="./simulink_project/index.html">here</
</div> </div>
</div> </div>
<div id="outline-container-orge9886ba" class="outline-2"> <div id="outline-container-org7775a17" class="outline-2">
<h2 id="orge9886ba"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape/index.html">link</a>)</h2> <h2 id="org7775a17"><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"> <div class="outline-text-2" id="text-2">
<p> <p>
The model of the NASS is based on Simulink and Simscape Multi-Body. The model of the NASS is based on Simulink and Simscape Multi-Body.
@ -295,8 +296,8 @@ Such toolbox is presented <a href="./simscape/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org9756af9" class="outline-2"> <div id="outline-container-orga13404c" class="outline-2">
<h2 id="org9756af9"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems/index.html">link</a>)</h2> <h2 id="orga13404c"><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"> <div class="outline-text-2" id="text-3">
<p> <p>
The model is decomposed of multiple subsystems. The model is decomposed of multiple subsystems.
@ -310,19 +311,19 @@ All these subsystems are described <a href="./simscape_subsystems/index.html">he
</div> </div>
</div> </div>
<div id="outline-container-orgfd2a136" class="outline-2"> <div id="outline-container-org8c0b007" 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> <h2 id="org8c0b007"><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"> <div class="outline-text-2" id="text-4">
<p> <p>
First, we consider perfectly rigid elements and joints and we just study the kinematic of the station. 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 <a href="./kinematics/index.html">here</a>. This is detailed <a href="./kinematics/index.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org44103c3" class="outline-2"> <div id="outline-container-org42af553" class="outline-2">
<h2 id="org44103c3"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2> <h2 id="org42af553"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
<p> <p>
In this document (accessible <a href="./metrology/index.html">here</a>), we discuss the measurement of the sample with respect to the granite. In this document (accessible <a href="./metrology/index.html">here</a>), we discuss the measurement of the sample with respect to the granite.
@ -330,10 +331,20 @@ In this document (accessible <a href="./metrology/index.html">here</a>), we disc
</div> </div>
</div> </div>
<div id="outline-container-orga25d254" class="outline-2"> <div id="outline-container-orgfdae0ad" 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> <h2 id="orgfdae0ad"><span class="section-number-2">6</span> Computation of the positioning error of the Sample (<a href="./positioning_error/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-6">
<p> <p>
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 <a href="./positioning_error/index.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-org300e6d1" class="outline-2">
<h2 id="org300e6d1"><span class="section-number-2">7</span> Tuning of the Dynamics of the Simscape model (<a href="./identification/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics. From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.
</p> </p>
@ -343,9 +354,9 @@ This is explained <a href="./identification/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org4affbbc" class="outline-2"> <div id="outline-container-orgb3d20cb" class="outline-2">
<h2 id="org4affbbc"><span class="section-number-2">7</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2> <h2 id="orgb3d20cb"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-7"> <div class="outline-text-2" id="text-8">
<p> <p>
The effect of disturbances on the position of the micro-station have been measured. 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. 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.
</div> </div>
</div> </div>
<div id="outline-container-orgbb796cb" class="outline-2"> <div id="outline-container-org543e2e5" class="outline-2">
<h2 id="orgbb796cb"><span class="section-number-2">8</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2> <h2 id="org543e2e5"><span class="section-number-2">9</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-8"> <div class="outline-text-2" id="text-9">
<p> <p>
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments. Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
</p> </p>
@ -374,9 +385,9 @@ Tomography experiments are simulated and the results are presented <a href="./ex
</div> </div>
</div> </div>
<div id="outline-container-org383ef96" class="outline-2"> <div id="outline-container-org2f00ace" class="outline-2">
<h2 id="org383ef96"><span class="section-number-2">9</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2> <h2 id="org2f00ace"><span class="section-number-2">10</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-9"> <div class="outline-text-2" id="text-10">
<p> <p>
Many matlab functions are shared among all the files of the projects. Many matlab functions are shared among all the files of the projects.
</p> </p>
@ -389,7 +400,7 @@ These functions are all defined <a href="./functions/index.html">here</a>.
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-12-11 mer. 16:19</p> <p class="date">Created: 2019-12-11 mer. 17:34</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p> <p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div> </div>
</body> </body>

6
index.org
View File

@ -60,12 +60,16 @@ All these subsystems are described [[./simscape_subsystems/index.org][here]].
* Kinematics of the Station ([[./kinematics/index.org][link]]) * 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. 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]]. This is detailed [[./kinematics/index.org][here]].
* Metrology ([[./metrology/index.org][link]]) * 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. 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]]) * 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. From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.