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Create a new folder for active damping

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Thomas Dehaeze 2019-12-17 18:04:21 +01:00
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active_damping/index.org
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@ -2058,6 +2058,3 @@ Direct Velocity Feedback:
#+NAME: fig:plant_comp_damping_coupling #+NAME: fig:plant_comp_damping_coupling
#+CAPTION: Comparison of one off-diagonal plant for different damping technique applied ([[./figs/plant_comp_damping_coupling.png][png]], [[./figs/plant_comp_damping_coupling.pdf][pdf]]) #+CAPTION: Comparison of one off-diagonal plant for different damping technique applied ([[./figs/plant_comp_damping_coupling.png][png]], [[./figs/plant_comp_damping_coupling.pdf][pdf]])
[[file:figs/plant_comp_damping_coupling.png]] [[file:figs/plant_comp_damping_coupling.png]]
* Conclusion
<<sec:conclusion>>

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../figs/

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"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>
<!-- 2019-12-13 ven. 17:55 --> <!-- 2019-12-17 mar. 10:15 -->
<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>
@ -258,17 +258,18 @@ 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="#org09e6df5">1. Simulink Project (link)</a></li> <li><a href="#orgb4f9c18">1. Simulink Project (link)</a></li>
<li><a href="#org26385ed">2. Simscape Model (link)</a></li> <li><a href="#orge38d120">2. Simscape Model (link)</a></li>
<li><a href="#org6bd604c">3. Simscape Subsystems (link)</a></li> <li><a href="#org0232b8f">3. Simscape Subsystems (link)</a></li>
<li><a href="#org90bceda">4. Kinematics of the Station (link)</a></li> <li><a href="#org8951214">4. Kinematics of the Station (link)</a></li>
<li><a href="#org476f6e1">5. Metrology (link)</a></li> <li><a href="#org0a07605">5. Metrology (link)</a></li>
<li><a href="#org0d1436b">6. Computation of the positioning error of the Sample (link)</a></li> <li><a href="#org85533c5">6. Computation of the positioning error of the Sample (link)</a></li>
<li><a href="#orgd15f91c">7. Tuning of the Dynamics of the Simscape model (link)</a></li> <li><a href="#orgf261777">7. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#orgd1fe7f0">8. Disturbances (link)</a></li> <li><a href="#org2ebd152">8. Disturbances (link)</a></li>
<li><a href="#orgee1f6e3">9. Tomography Experiment (link)</a></li> <li><a href="#orgdba08f2">9. Tomography Experiment (link)</a></li>
<li><a href="#orgbbb9da8">10. Active Damping Techniques (link)</a></li> <li><a href="#orgcfea840">10. Active Damping Techniques on the Uni-axial Model (link)</a></li>
<li><a href="#org7bec1df">11. Useful Matlab Functions (link)</a></li> <li><a href="#org3eb7da1">11. Active Damping Techniques on the full Simscape Model (link)</a></li>
<li><a href="#orgdd93972">12. Useful Matlab Functions (link)</a></li>
</ul> </ul>
</div> </div>
</div> </div>
@ -277,8 +278,8 @@ 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-org09e6df5" class="outline-2"> <div id="outline-container-orgb4f9c18" class="outline-2">
<h2 id="org09e6df5"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project/index.html">link</a>)</h2> <h2 id="orgb4f9c18"><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.
@ -287,8 +288,8 @@ Such project is briefly presented <a href="./simulink_project/index.html">here</
</div> </div>
</div> </div>
<div id="outline-container-org26385ed" class="outline-2"> <div id="outline-container-orge38d120" class="outline-2">
<h2 id="org26385ed"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape/index.html">link</a>)</h2> <h2 id="orge38d120"><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.
@ -297,8 +298,8 @@ Such toolbox is presented <a href="./simscape/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org6bd604c" class="outline-2"> <div id="outline-container-org0232b8f" class="outline-2">
<h2 id="org6bd604c"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems/index.html">link</a>)</h2> <h2 id="org0232b8f"><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.
@ -312,8 +313,8 @@ All these subsystems are described <a href="./simscape_subsystems/index.html">he
</div> </div>
</div> </div>
<div id="outline-container-org90bceda" class="outline-2"> <div id="outline-container-org8951214" class="outline-2">
<h2 id="org90bceda"><span class="section-number-2">4</span> Kinematics of the Station (<a href="./kinematics/index.html">link</a>)</h2> <h2 id="org8951214"><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.
@ -323,8 +324,8 @@ This is detailed <a href="./kinematics/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org476f6e1" class="outline-2"> <div id="outline-container-org0a07605" class="outline-2">
<h2 id="org476f6e1"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2> <h2 id="org0a07605"><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.
@ -332,8 +333,8 @@ In this document (accessible <a href="./metrology/index.html">here</a>), we disc
</div> </div>
</div> </div>
<div id="outline-container-org0d1436b" class="outline-2"> <div id="outline-container-org85533c5" class="outline-2">
<h2 id="org0d1436b"><span class="section-number-2">6</span> Computation of the positioning error of the Sample (<a href="./positioning_error/index.html">link</a>)</h2> <h2 id="org85533c5"><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. 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.
@ -342,8 +343,8 @@ This is done <a href="./positioning_error/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-orgd15f91c" class="outline-2"> <div id="outline-container-orgf261777" class="outline-2">
<h2 id="orgd15f91c"><span class="section-number-2">7</span> Tuning of the Dynamics of the Simscape model (<a href="./identification/index.html">link</a>)</h2> <h2 id="orgf261777"><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"> <div class="outline-text-2" id="text-7">
<p> <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.
@ -355,8 +356,8 @@ This is explained <a href="./identification/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-orgd1fe7f0" class="outline-2"> <div id="outline-container-org2ebd152" class="outline-2">
<h2 id="orgd1fe7f0"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2> <h2 id="org2ebd152"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-8"> <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.
@ -373,8 +374,8 @@ We also discuss how the disturbances are implemented in the model.
</div> </div>
</div> </div>
<div id="outline-container-orgee1f6e3" class="outline-2"> <div id="outline-container-orgdba08f2" class="outline-2">
<h2 id="orgee1f6e3"><span class="section-number-2">9</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2> <h2 id="orgdba08f2"><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"> <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.
@ -386,19 +387,28 @@ Tomography experiments are simulated and the results are presented <a href="./ex
</div> </div>
</div> </div>
<div id="outline-container-orgbbb9da8" class="outline-2"> <div id="outline-container-orgcfea840" class="outline-2">
<h2 id="orgbbb9da8"><span class="section-number-2">10</span> Active Damping Techniques (<a href="./active_damping/index.html">link</a>)</h2> <h2 id="orgcfea840"><span class="section-number-2">10</span> Active Damping Techniques on the Uni-axial Model (<a href="./active_damping_uniaxial/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-10"> <div class="outline-text-2" id="text-10">
<p> <p>
Active damping techniques are applied to the Simscape model. Active damping techniques are applied to the Uniaxial Simscape model.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org7bec1df" class="outline-2"> <div id="outline-container-org3eb7da1" class="outline-2">
<h2 id="org7bec1df"><span class="section-number-2">11</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2> <h2 id="org3eb7da1"><span class="section-number-2">11</span> Active Damping Techniques on the full Simscape Model (<a href="./active_damping/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-11"> <div class="outline-text-2" id="text-11">
<p> <p>
Active damping techniques are applied to the full Simscape model.
</p>
</div>
</div>
<div id="outline-container-orgdd93972" class="outline-2">
<h2 id="orgdd93972"><span class="section-number-2">12</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-12">
<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>
@ -410,7 +420,7 @@ 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: 2019-12-13 ven. 17:55</p> <p class="date">Created: 2019-12-17 mar. 10:15</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>

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@ -88,8 +88,11 @@ Now that the dynamics of the Model have been tuned and the Disturbances have inc
Tomography experiments are simulated and the results are presented [[./experiment_tomography/index.org][here]]. Tomography experiments are simulated and the results are presented [[./experiment_tomography/index.org][here]].
* Active Damping Techniques ([[./active_damping/index.org][link]]) * Active Damping Techniques on the Uni-axial Model ([[./active_damping_uniaxial/index.org][link]])
Active damping techniques are applied to the Simscape model. Active damping techniques are applied to the Uniaxial Simscape model.
* Active Damping Techniques on the full Simscape Model ([[./active_damping/index.org][link]])
Active damping techniques are applied to the full Simscape model.
* Useful Matlab Functions ([[./functions/index.org][link]]) * Useful Matlab Functions ([[./functions/index.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.