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Thomas Dehaeze
2020-05-04 10:27:41 +02:00
parent b4805268a4
commit 7e615e74ae
12 changed files with 6 additions and 23 deletions
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6
org/experiments.org
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@@ -325,19 +325,19 @@ And we save the obtained data.
figure;
ax1 = subplot(2, 3, 1);
hold on;
plot(scans_rz_align_dist.Em.Eg.Time, scans_rz_align_dist.Em.Eg.Data(:, 1))
plot(scans_rz_align_dist.Em.En.Time, scans_rz_align_dist.Em.En.Data(:, 1))
hold off;
ylabel('Displacement $\epsilon_x$ [m]');
ax2 = subplot(2, 3, 2);
hold on;
plot(scans_rz_align_dist.Em.Eg.Time, scans_rz_align_dist.Em.Eg.Data(:, 2))
plot(scans_rz_align_dist.Em.En.Time, scans_rz_align_dist.Em.En.Data(:, 2))
hold off;
ylabel('Displacement $\epsilon_y$ [m]');
ax3 = subplot(2, 3, 3);
hold on;
plot(scans_rz_align_dist.Em.Eg.Time, scans_rz_align_dist.Em.Eg.Data(:, 3))
plot(scans_rz_align_dist.Em.En.Time, scans_rz_align_dist.Em.En.Data(:, 3))
hold off;
ylabel('Displacement $\epsilon_z$ [m]');

1
org/optimal_stiffness_control.org
View File

@@ -1429,6 +1429,7 @@ exportFig('figs/opt_stiff_hac_dvf_L_act_stroke.pdf', 'width', 'full', 'height',
#+end_important
* Further More complex simulations
** Introduction :ignore:
** Simulation with Micro-Hexapod Offset
*** Simulation
The micro-hexapod is inducing a 10mm offset of the sample center of mass with the rotation axis.

2
org/uncertainty_payload.org
View File

@@ -427,7 +427,7 @@ And we obtain
&= \frac{m^\prime s^2 + c^\prime s + k^\prime}{(ms^2 + cs + k) (m^\prime s^2 + c^\prime s + k^\prime) + m^\prime s^2 (c^\prime s + k)}
\end{align*}
Which is the same transfer function that was obtained in section [[sec:introductory_example]] (Eq. [[eq:plant_simple_system]]).
Which is the same transfer function that was obtained in section [[sec:introductory_example]] (Eq. eqref:eq:plant_simple_system).
The impedance of the mass-spring-damper system is shown in Figure [[fig:example_impedance_mass_spring_damper]].
- Before the resonance frequency $\omega_0^\prime$, the impedance follows the mass line

2
org/uncertainty_support.org
View File

@@ -392,7 +392,7 @@ In order to verify that the formula is correct, let's take the same mass-spring-
And we obtain
\[ \frac{x}{F} = \frac{m^\prime s^2 + c^\prime s + k^\prime}{(ms^2 + cs + k)(m^\prime s^2 + c^\prime s + k^\prime) + ms^2(cs + k)} \]
Which is the same transfer function that was obtained in section [[sec:introductory_example]] (Eq. [[eq:plant_simple_system]]).
Which is the same transfer function that was obtained in section [[sec:introductory_example]] (Eq. eqref:eq:plant_simple_system).
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)