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Thomas Dehaeze
2020-04-01 16:28:55 +02:00
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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.