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Add time domain disturbances plots and comparisons

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Thomas Dehaeze
2020-03-17 17:33:43 +01:00
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<title>Identification of the disturbances</title>
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<li><a href="#Compute-the-Power-Spectral-Density-of-the-disturbance-force">5. Compute the Power Spectral Density of the disturbance force</a></li>
<li><a href="#Noise-Budget">6. Noise Budget</a></li>
<li><a href="#Save">7. Save</a></li>
<li><a href="#orgd564a58">8. Time Domain Disturbances</a></li>
<li><a href="#org8212830">9. Time Domain Effect of Disturbances</a>
<ul>
<li><a href="#org76c96f4">9.1. Initialization of the Experiment</a></li>
<li><a href="#orgf9c1ad9">9.2. Simulations</a></li>
<li><a href="#org8107e0b">9.3. Comparison</a></li>
</ul>
</li>
</ul>
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<div id="outline-container-orgd564a58" class="outline-2">
<h2 id="orgd564a58"><span class="section-number-2">8</span> Time Domain Disturbances</h2>
<div class="outline-text-2" id="text-8">
<p>
Let&rsquo;s initialize the time domain disturbances and load them.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances();
dist = load(<span class="org-string">'nass_disturbances.mat'</span>);
</pre>
</div>
<p>
The time domain disturbance signals are shown in Figure <a href="#org3ff859b">10</a>.
</p>
<div id="org3ff859b" class="figure">
<p><img src="figs/disturbances_time_domain.png" alt="disturbances_time_domain.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Disturbances in the Time Domain (<a href="./figs/disturbances_time_domain.png">png</a>, <a href="./figs/disturbances_time_domain.pdf">pdf</a>)</p>
</div>
</div>
</div>
<div id="outline-container-org8212830" class="outline-2">
<h2 id="org8212830"><span class="section-number-2">9</span> Time Domain Effect of Disturbances</h2>
<div class="outline-text-2" id="text-9">
</div>
<div id="outline-container-org76c96f4" class="outline-3">
<h3 id="org76c96f4"><span class="section-number-3">9.1</span> Initialization of the Experiment</h3>
<div class="outline-text-3" id="text-9-1">
<p>
We initialize all the stages with the default parameters.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
</pre>
</div>
<p>
The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
initializeSample(<span class="org-string">'mass'</span>, 1);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences();
initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">false</span>);
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'all'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'2'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-orgf9c1ad9" class="outline-3">
<h3 id="orgf9c1ad9"><span class="section-number-3">9.2</span> Simulations</h3>
<div class="outline-text-3" id="text-9-2">
<p>
No disturbances:
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
sim_no = simout;
</pre>
</div>
<p>
Ground Motion:
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, <span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, <span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span>);
<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
sim_gm = simout;
</pre>
</div>
<p>
Translation Stage Vibrations:
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, <span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span>);
<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
sim_ty = simout;
</pre>
</div>
<p>
Rotation Stage Vibrations:
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, <span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, <span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>);
<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
sim_rz = simout;
</pre>
</div>
</div>
</div>
<div id="outline-container-org8107e0b" class="outline-3">
<h3 id="org8107e0b"><span class="section-number-3">9.3</span> Comparison</h3>
<div class="outline-text-3" id="text-9-3">
<p>
Let&rsquo;s now compare the effect of those perturbations on the position error of the sample (Figure <a href="#orgee898d4">11</a>)
</p>
<div id="orgee898d4" class="figure">
<p><img src="figs/effect_disturbances_position_error.png" alt="effect_disturbances_position_error.png" />
</p>
<p><span class="figure-number">Figure 11: </span>Effect of Perturbations on the position error (<a href="./figs/effect_disturbances_position_error.png">png</a>, <a href="./figs/effect_disturbances_position_error.pdf">pdf</a>)</p>
</div>
</div>
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</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-17 mar. 11:21</p>
<p class="date">Created: 2020-03-17 mar. 17:31</p>
</div>
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