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Thomas Dehaeze 2020-04-01 16:28:55 +02:00
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@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-03-25 mer. 19:21 -->
<!-- 2020-04-01 mer. 16:28 -->
<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>
@ -202,50 +202,28 @@
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="./js/readtheorg.js"></script>
<script type="text/javascript">
/*
@licstart The following is the entire license notice for the
JavaScript code in this tag.
Copyright (C) 2012-2020 Free Software Foundation, Inc.
The JavaScript code in this tag is free software: you can
redistribute it and/or modify it under the terms of the GNU
General Public License (GNU GPL) as published by the Free Software
Foundation, either version 3 of the License, or (at your option)
any later version. The code is distributed WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
As additional permission under GNU GPL version 3 section 7, you
may distribute non-source (e.g., minimized or compacted) forms of
that code without the copy of the GNU GPL normally required by
section 4, provided you include this license notice and a URL
through which recipients can access the Corresponding Source.
@licend The above is the entire license notice
for the JavaScript code in this tag.
*/
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<body>
@ -265,13 +243,14 @@ for the JavaScript code in this tag.
<li><a href="#orgdb0ed73">4. Kinematics of the Station (link)</a></li>
<li><a href="#org905bc44">5. Computation of the positioning error of the Sample (link)</a></li>
<li><a href="#org402c8e6">6. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#org4dd191b">7. Disturbances (link)</a></li>
<li><a href="#org6d7e868">8. Tomography Experiment (link)</a></li>
<li><a href="#orgafa75bf">9. Effect of support&rsquo;s compliance uncertainty on the plant (link)</a></li>
<li><a href="#org3b8f596">10. Active Damping Techniques on the Uni-axial Model (link)</a></li>
<li><a href="#org14a10e8">11. Active Damping Techniques on the full Simscape Model (link)</a></li>
<li><a href="#orgd818a00">12. Control of the Nano-Active-Stabilization-System (link)</a></li>
<li><a href="#org361f405">13. Useful Matlab Functions (link)</a></li>
<li><a href="#org7af5540">7. Compensating Gravity forces to start simulation at steady state (link)</a></li>
<li><a href="#org4dd191b">8. Disturbances (link)</a></li>
<li><a href="#org8d9280d">9. Simulation of Experiment (link)</a></li>
<li><a href="#orgafa75bf">10. Effect of support&rsquo;s compliance uncertainty on the plant (link)</a></li>
<li><a href="#orga323881">11. Effect of Experimental conditions on the plant dynamics (link)</a></li>
<li><a href="#org14a10e8">12. Active Damping Techniques on the full Simscape Model (link)</a></li>
<li><a href="#orgd818a00">13. Control of the Nano-Active-Stabilization-System (link)</a></li>
<li><a href="#org361f405">14. Useful Matlab Functions (link)</a></li>
</ul>
</div>
</div>
@ -349,10 +328,27 @@ This is explained <a href="./identification.html">here</a>.
</div>
</div>
<div id="outline-container-org4dd191b" class="outline-2">
<h2 id="org4dd191b"><span class="section-number-2">7</span> Disturbances (<a href="./disturbances.html">link</a>)</h2>
<div id="outline-container-org7af5540" class="outline-2">
<h2 id="org7af5540"><span class="section-number-2">7</span> Compensating Gravity forces to start simulation at steady state (<a href="compensation_gravity_forces.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
When gravity is included in the model, the simulation does not start at steady state.
</p>
<p>
This can be problematic, especially when using a soft nano-hexapod as the deflection due to gravity will be quite large.
</p>
<p>
A technique is described in this document in order to compensate the gravity forces and start the simulation at steady state without deflection.
</p>
</div>
</div>
<div id="outline-container-org4dd191b" class="outline-2">
<h2 id="org4dd191b"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances.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.
</p>
@ -367,40 +363,41 @@ We also discuss how the disturbances are implemented in the model.
</div>
</div>
<div id="outline-container-org6d7e868" class="outline-2">
<h2 id="org6d7e868"><span class="section-number-2">8</span> Tomography Experiment (<a href="./experiments.html">link</a>)</h2>
<div class="outline-text-2" id="text-8">
<div id="outline-container-org8d9280d" class="outline-2">
<h2 id="org8d9280d"><span class="section-number-2">9</span> Simulation of Experiment (<a href="./experiments.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>
<p>
Tomography experiments are simulated and the results are presented <a href="./experiments.html">here</a>.
Experiments are simulated and the results are presented <a href="./experiments.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-orgafa75bf" class="outline-2">
<h2 id="orgafa75bf"><span class="section-number-2">9</span> Effect of support&rsquo;s compliance uncertainty on the plant (<a href="uncertainty_support.html">link</a>)</h2>
<div class="outline-text-2" id="text-9">
<h2 id="orgafa75bf"><span class="section-number-2">10</span> Effect of support&rsquo;s compliance uncertainty on the plant (<a href="uncertainty_support.html">link</a>)</h2>
<div class="outline-text-2" id="text-10">
<p>
In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.
</p>
</div>
</div>
<div id="outline-container-org3b8f596" class="outline-2">
<h2 id="org3b8f596"><span class="section-number-2">10</span> Active Damping Techniques on the Uni-axial Model (<a href="./active_damping_uniaxial.html">link</a>)</h2>
<div class="outline-text-2" id="text-10">
<div id="outline-container-orga323881" class="outline-2">
<h2 id="orga323881"><span class="section-number-2">11</span> Effect of Experimental conditions on the plant dynamics (<a href="uncertainty_experiment.html">link</a>)</h2>
<div class="outline-text-2" id="text-11">
<p>
Active damping techniques are applied to the Uniaxial Simscape model.
In this document, the effect of all the experimental conditions (rotation speed, sample mass, &#x2026;) on the plant dynamics are studied.
Conclusion are drawn about what experimental conditions are critical on the variability of the plant dynamics.
</p>
</div>
</div>
<div id="outline-container-org14a10e8" class="outline-2">
<h2 id="org14a10e8"><span class="section-number-2">11</span> Active Damping Techniques on the full Simscape Model (<a href="control_active_damping.html">link</a>)</h2>
<div class="outline-text-2" id="text-11">
<h2 id="org14a10e8"><span class="section-number-2">12</span> Active Damping Techniques on the full Simscape Model (<a href="control_active_damping.html">link</a>)</h2>
<div class="outline-text-2" id="text-12">
<p>
Active damping techniques are applied to the full Simscape model.
</p>
@ -408,12 +405,18 @@ Active damping techniques are applied to the full Simscape model.
</div>
<div id="outline-container-orgd818a00" class="outline-2">
<h2 id="orgd818a00"><span class="section-number-2">12</span> Control of the Nano-Active-Stabilization-System (<a href="control.html">link</a>)</h2>
</div>
<div id="outline-container-org361f405" class="outline-2">
<h2 id="org361f405"><span class="section-number-2">13</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
<h2 id="orgd818a00"><span class="section-number-2">13</span> Control of the Nano-Active-Stabilization-System (<a href="control.html">link</a>)</h2>
<div class="outline-text-2" id="text-13">
<p>
In this file are gathered all studies about the control the Nano-Active-Stabilization-System.
</p>
</div>
</div>
<div id="outline-container-org361f405" class="outline-2">
<h2 id="org361f405"><span class="section-number-2">14</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
<div class="outline-text-2" id="text-14">
<p>
Many matlab functions are shared among all the files of the projects.
</p>
@ -425,7 +428,7 @@ These functions are all defined <a href="./functions.html">here</a>.
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-25 mer. 19:21</p>
<p class="date">Created: 2020-04-01 mer. 16:28</p>
</div>
</body>
</html>

18
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@ -69,6 +69,13 @@ From dynamical measurements perform on the real positioning station, we tune the
This is explained [[./identification.org][here]].
* Compensating Gravity forces to start simulation at steady state ([[file:compensation_gravity_forces.org][link]])
When gravity is included in the model, the simulation does not start at steady state.
This can be problematic, especially when using a soft nano-hexapod as the deflection due to gravity will be quite large.
A technique is described in this document in order to compensate the gravity forces and start the simulation at steady state without deflection.
* Disturbances ([[./disturbances.org][link]])
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.
@ -77,21 +84,24 @@ This is discussed [[./disturbances.org][here]].
We also discuss how the disturbances are implemented in the model.
* Tomography Experiment ([[./experiments.org][link]])
* Simulation of Experiment ([[./experiments.org][link]])
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
Tomography experiments are simulated and the results are presented [[./experiments.org][here]].
Experiments are simulated and the results are presented [[./experiments.org][here]].
* Effect of support's compliance uncertainty on the plant ([[file:uncertainty_support.org][link]])
In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.
* Active Damping Techniques on the Uni-axial Model ([[./active_damping_uniaxial.org][link]])
Active damping techniques are applied to the Uniaxial Simscape model.
* Effect of Experimental conditions on the plant dynamics ([[file:uncertainty_experiment.org][link]])
In this document, the effect of all the experimental conditions (rotation speed, sample mass, ...) on the plant dynamics are studied.
Conclusion are drawn about what experimental conditions are critical on the variability of the plant dynamics.
* Active Damping Techniques on the full Simscape Model ([[file:control_active_damping.org][link]])
Active damping techniques are applied to the full Simscape model.
* Control of the Nano-Active-Stabilization-System ([[file:control.org][link]])
In this file are gathered all studies about the control the Nano-Active-Stabilization-System.
* Useful Matlab Functions ([[./functions.org][link]])
Many matlab functions are shared among all the files of the projects.