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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
#+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]]
* Conclusion
<<sec:conclusion>>

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../figs/

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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>
<!-- 2019-12-13 ven. 17:55 -->
<!-- 2019-12-17 mar. 10:15 -->
<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>
@ -258,17 +258,18 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org09e6df5">1. Simulink Project (link)</a></li>
<li><a href="#org26385ed">2. Simscape Model (link)</a></li>
<li><a href="#org6bd604c">3. Simscape Subsystems (link)</a></li>
<li><a href="#org90bceda">4. Kinematics of the Station (link)</a></li>
<li><a href="#org476f6e1">5. Metrology (link)</a></li>
<li><a href="#org0d1436b">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="#orgd1fe7f0">8. Disturbances (link)</a></li>
<li><a href="#orgee1f6e3">9. Tomography Experiment (link)</a></li>
<li><a href="#orgbbb9da8">10. Active Damping Techniques (link)</a></li>
<li><a href="#org7bec1df">11. Useful Matlab Functions (link)</a></li>
<li><a href="#orgb4f9c18">1. Simulink Project (link)</a></li>
<li><a href="#orge38d120">2. Simscape Model (link)</a></li>
<li><a href="#org0232b8f">3. Simscape Subsystems (link)</a></li>
<li><a href="#org8951214">4. Kinematics of the Station (link)</a></li>
<li><a href="#org0a07605">5. Metrology (link)</a></li>
<li><a href="#org85533c5">6. Computation of the positioning error of the Sample (link)</a></li>
<li><a href="#orgf261777">7. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#org2ebd152">8. Disturbances (link)</a></li>
<li><a href="#orgdba08f2">9. Tomography Experiment (link)</a></li>
<li><a href="#orgcfea840">10. Active Damping Techniques on the Uni-axial Model (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>
</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.
</p>
<div id="outline-container-org09e6df5" class="outline-2">
<h2 id="org09e6df5"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project/index.html">link</a>)</h2>
<div id="outline-container-orgb4f9c18" class="outline-2">
<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">
<p>
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 id="outline-container-org26385ed" class="outline-2">
<h2 id="org26385ed"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape/index.html">link</a>)</h2>
<div id="outline-container-orge38d120" class="outline-2">
<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">
<p>
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 id="outline-container-org6bd604c" class="outline-2">
<h2 id="org6bd604c"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems/index.html">link</a>)</h2>
<div id="outline-container-org0232b8f" class="outline-2">
<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">
<p>
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 id="outline-container-org90bceda" 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>
<div id="outline-container-org8951214" class="outline-2">
<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">
<p>
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 id="outline-container-org476f6e1" class="outline-2">
<h2 id="org476f6e1"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2>
<div id="outline-container-org0a07605" class="outline-2">
<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">
<p>
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 id="outline-container-org0d1436b" 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>
<div id="outline-container-org85533c5" class="outline-2">
<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">
<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.
@ -342,8 +343,8 @@ This is done <a href="./positioning_error/index.html">here</a>.
</div>
</div>
<div id="outline-container-orgd15f91c" 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>
<div id="outline-container-orgf261777" class="outline-2">
<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">
<p>
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 id="outline-container-orgd1fe7f0" class="outline-2">
<h2 id="orgd1fe7f0"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2>
<div id="outline-container-org2ebd152" class="outline-2">
<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">
<p>
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 id="outline-container-orgee1f6e3" class="outline-2">
<h2 id="orgee1f6e3"><span class="section-number-2">9</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2>
<div id="outline-container-orgdba08f2" class="outline-2">
<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">
<p>
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 id="outline-container-orgbbb9da8" 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>
<div id="outline-container-orgcfea840" class="outline-2">
<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">
<p>
Active damping techniques are applied to the Simscape model.
Active damping techniques are applied to the Uniaxial Simscape model.
</p>
</div>
</div>
<div id="outline-container-org7bec1df" class="outline-2">
<h2 id="org7bec1df"><span class="section-number-2">11</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2>
<div id="outline-container-org3eb7da1" class="outline-2">
<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">
<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.
</p>
@ -410,7 +420,7 @@ 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: 2019-12-13 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>
</div>
</body>

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index.org
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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]].
* Active Damping Techniques ([[./active_damping/index.org][link]])
Active damping techniques are applied to the Simscape model.
* Active Damping Techniques on the Uni-axial Model ([[./active_damping_uniaxial/index.org][link]])
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]])
Many matlab functions are shared among all the files of the projects.