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@ -4,7 +4,7 @@
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<head> <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 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>
@ -202,50 +202,28 @@
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<body> <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="#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="#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="#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="#org7af5540">7. Compensating Gravity forces to start simulation at steady state (link)</a></li>
<li><a href="#org6d7e868">8. Tomography Experiment (link)</a></li> <li><a href="#org4dd191b">8. Disturbances (link)</a></li>
<li><a href="#orgafa75bf">9. Effect of support&rsquo;s compliance uncertainty on the plant (link)</a></li> <li><a href="#org8d9280d">9. Simulation of Experiment (link)</a></li>
<li><a href="#org3b8f596">10. Active Damping Techniques on the Uni-axial Model (link)</a></li> <li><a href="#orgafa75bf">10. Effect of support&rsquo;s compliance uncertainty on the plant (link)</a></li>
<li><a href="#org14a10e8">11. Active Damping Techniques on the full Simscape Model (link)</a></li> <li><a href="#orga323881">11. Effect of Experimental conditions on the plant dynamics (link)</a></li>
<li><a href="#orgd818a00">12. Control of the Nano-Active-Stabilization-System (link)</a></li> <li><a href="#org14a10e8">12. Active Damping Techniques on the full Simscape Model (link)</a></li>
<li><a href="#org361f405">13. Useful Matlab Functions (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> </ul>
</div> </div>
</div> </div>
@ -349,10 +328,27 @@ This is explained <a href="./identification.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org4dd191b" class="outline-2"> <div id="outline-container-org7af5540" class="outline-2">
<h2 id="org4dd191b"><span class="section-number-2">7</span> Disturbances (<a href="./disturbances.html">link</a>)</h2> <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"> <div class="outline-text-2" id="text-7">
<p> <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. 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.
</p> </p>
@ -367,40 +363,41 @@ We also discuss how the disturbances are implemented in the model.
</div> </div>
</div> </div>
<div id="outline-container-org6d7e868" class="outline-2"> <div id="outline-container-org8d9280d" class="outline-2">
<h2 id="org6d7e868"><span class="section-number-2">8</span> Tomography Experiment (<a href="./experiments.html">link</a>)</h2> <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-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>
<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> </p>
</div> </div>
</div> </div>
<div id="outline-container-orgafa75bf" class="outline-2"> <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> <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-9"> <div class="outline-text-2" id="text-10">
<p> <p>
In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed. In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org3b8f596" class="outline-2"> <div id="outline-container-orga323881" 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> <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-10"> <div class="outline-text-2" id="text-11">
<p> <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> </p>
</div> </div>
</div> </div>
<div id="outline-container-org14a10e8" class="outline-2"> <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> <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-11"> <div class="outline-text-2" id="text-12">
<p> <p>
Active damping techniques are applied to the full Simscape model. Active damping techniques are applied to the full Simscape model.
</p> </p>
@ -408,12 +405,18 @@ Active damping techniques are applied to the full Simscape model.
</div> </div>
<div id="outline-container-orgd818a00" class="outline-2"> <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> <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>
<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>
<div class="outline-text-2" id="text-13"> <div class="outline-text-2" id="text-13">
<p> <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. Many matlab functions are shared among all the files of the projects.
</p> </p>
@ -425,7 +428,7 @@ These functions are all defined <a href="./functions.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: 2020-03-25 mer. 19:21</p> <p class="date">Created: 2020-04-01 mer. 16:28</p>
</div> </div>
</body> </body>
</html> </html>

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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]]. 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]]) * Disturbances ([[./disturbances.org][link]])
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.
@ -77,21 +84,24 @@ This is discussed [[./disturbances.org][here]].
We also discuss how the disturbances are implemented in the model. 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. 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]]) * 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. 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]]) * Effect of Experimental conditions on the plant dynamics ([[file:uncertainty_experiment.org][link]])
Active damping techniques are applied to the Uniaxial Simscape model. 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 on the full Simscape Model ([[file:control_active_damping.org][link]])
Active damping techniques are applied to the full Simscape model. Active damping techniques are applied to the full Simscape model.
* Control of the Nano-Active-Stabilization-System ([[file:control.org][link]]) * 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]]) * Useful Matlab Functions ([[./functions.org][link]])
Many matlab functions are shared among all the files of the projects. Many matlab functions are shared among all the files of the projects.