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Thomas Dehaeze 2019-12-11 17:34:26 +01:00
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index.html
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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<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 name="viewport" content="width=device-width, initial-scale=1" />
<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>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgd3c31fc">1. Simulink Project (link)</a></li>
<li><a href="#orge9886ba">2. Simscape Model (link)</a></li>
<li><a href="#org9756af9">3. Simscape Subsystems (link)</a></li>
<li><a href="#orgfd2a136">4. Kinematics of the Station (link)</a></li>
<li><a href="#org44103c3">5. Metrology (link)</a></li>
<li><a href="#orga25d254">6. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#org4affbbc">7. Disturbances (link)</a></li>
<li><a href="#orgbb796cb">8. Tomography Experiment (link)</a></li>
<li><a href="#org383ef96">9. Useful Matlab Functions (link)</a></li>
<li><a href="#orgaa8ca21">1. Simulink Project (link)</a></li>
<li><a href="#org7775a17">2. Simscape Model (link)</a></li>
<li><a href="#orga13404c">3. Simscape Subsystems (link)</a></li>
<li><a href="#org8c0b007">4. Kinematics of the Station (link)</a></li>
<li><a href="#org42af553">5. Metrology (link)</a></li>
<li><a href="#orgfdae0ad">6. Computation of the positioning error of the Sample (link)</a></li>
<li><a href="#org300e6d1">7. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#orgb3d20cb">8. Disturbances (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>
</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.
</p>
<div id="outline-container-orgd3c31fc" class="outline-2">
<h2 id="orgd3c31fc"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project/index.html">link</a>)</h2>
<div id="outline-container-orgaa8ca21" class="outline-2">
<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">
<p>
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 id="outline-container-orge9886ba" class="outline-2">
<h2 id="orge9886ba"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape/index.html">link</a>)</h2>
<div id="outline-container-org7775a17" class="outline-2">
<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">
<p>
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 id="outline-container-org9756af9" class="outline-2">
<h2 id="org9756af9"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems/index.html">link</a>)</h2>
<div id="outline-container-orga13404c" class="outline-2">
<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">
<p>
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 id="outline-container-orgfd2a136" 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>
<div id="outline-container-org8c0b007" class="outline-2">
<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">
<p>
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>.
</p>
</div>
</div>
<div id="outline-container-org44103c3" class="outline-2">
<h2 id="org44103c3"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2>
<div id="outline-container-org42af553" class="outline-2">
<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">
<p>
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 id="outline-container-orga25d254" 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>
<div id="outline-container-orgfdae0ad" class="outline-2">
<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">
<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.
</p>
@ -343,9 +354,9 @@ This is explained <a href="./identification/index.html">here</a>.
</div>
</div>
<div id="outline-container-org4affbbc" class="outline-2">
<h2 id="org4affbbc"><span class="section-number-2">7</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<div id="outline-container-orgb3d20cb" class="outline-2">
<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-8">
<p>
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.
</div>
</div>
<div id="outline-container-orgbb796cb" class="outline-2">
<h2 id="orgbb796cb"><span class="section-number-2">8</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-8">
<div id="outline-container-org543e2e5" class="outline-2">
<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-9">
<p>
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
</p>
@ -374,9 +385,9 @@ Tomography experiments are simulated and the results are presented <a href="./ex
</div>
</div>
<div id="outline-container-org383ef96" class="outline-2">
<h2 id="org383ef96"><span class="section-number-2">9</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-9">
<div id="outline-container-org2f00ace" class="outline-2">
<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-10">
<p>
Many matlab functions are shared among all the files of the projects.
</p>
@ -389,7 +400,7 @@ These functions are all defined <a href="./functions/index.html">here</a>.
</div>
<div id="postamble" class="status">
<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>
</div>
</body>

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index.org
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@ -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.