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<!-- 2020-02-25 mar. 18:08 --> <!-- 2020-02-25 mar. 18:18 -->
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<title>Simscape Model of the Nano-Active-Stabilization-System</title> <title>Simscape Model of the Nano-Active-Stabilization-System</title>
@ -251,26 +250,26 @@ for the JavaScript code in this tag.
</head> </head>
<body> <body>
<div id="org-div-home-and-up"> <div id="org-div-home-and-up">
<a accesskey="h" href="./index.html"> UP </a> <a accesskey="h" href="index.html"> UP </a>
| |
<a accesskey="H" href="./index.html"> HOME </a> <a accesskey="H" href="index.html"> HOME </a>
</div><div id="content"> </div><div id="content">
<h1 class="title">Simscape Model of the Nano-Active-Stabilization-System</h1> <h1 class="title">Simscape Model of the Nano-Active-Stabilization-System</h1>
<div id="table-of-contents"> <div id="table-of-contents">
<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="#org020bbd4">1. Simulink Project (link)</a></li> <li><a href="#orgc4bcf0b">1. Simulink Project (link)</a></li>
<li><a href="#org6985197">2. Simscape Model (link)</a></li> <li><a href="#orge439c56">2. Simscape Model (link)</a></li>
<li><a href="#org96c6059">3. Simscape Subsystems (link)</a></li> <li><a href="#orgc7bf13d">3. Simscape Subsystems (link)</a></li>
<li><a href="#orgaf10556">4. Kinematics of the Station (link)</a></li> <li><a href="#orgdb0ed73">4. Kinematics of the Station (link)</a></li>
<li><a href="#org81e1f8e">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="#org735699c">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="#org6e28c2c">7. Disturbances (link)</a></li> <li><a href="#org4dd191b">7. Disturbances (link)</a></li>
<li><a href="#org732dbb2">8. Tomography Experiment (link)</a></li> <li><a href="#org6d7e868">8. Tomography Experiment (link)</a></li>
<li><a href="#orgede6068">9. Active Damping Techniques on the Uni-axial Model (link)</a></li> <li><a href="#org3b8f596">9. Active Damping Techniques on the Uni-axial Model (link)</a></li>
<li><a href="#org145fd12">10. Active Damping Techniques on the full Simscape Model (link)</a></li> <li><a href="#org9fe426f">10. Active Damping Techniques on the full Simscape Model (link)</a></li>
<li><a href="#orgbaf758a">11. Useful Matlab Functions (link)</a></li> <li><a href="#org361f405">11. Useful Matlab Functions (link)</a></li>
</ul> </ul>
</div> </div>
</div> </div>
@ -279,28 +278,28 @@ 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-org020bbd4" class="outline-2"> <div id="outline-container-orgc4bcf0b" class="outline-2">
<h2 id="org020bbd4"><span class="section-number-2">1</span> Simulink Project (<a href="./org/simulink_project.html">link</a>)</h2> <h2 id="orgc4bcf0b"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project.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.
Such project is briefly presented <a href="./org/simulink_project.html">here</a>. Such project is briefly presented <a href="./simulink_project.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org6985197" class="outline-2"> <div id="outline-container-orge439c56" class="outline-2">
<h2 id="org6985197"><span class="section-number-2">2</span> Simscape Model (<a href="./org/simscape.html">link</a>)</h2> <h2 id="orge439c56"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape.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.
Such toolbox is presented <a href="./org/simscape.html">here</a>. Such toolbox is presented <a href="./simscape.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org96c6059" class="outline-2"> <div id="outline-container-orgc7bf13d" class="outline-2">
<h2 id="org96c6059"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./org/simscape_subsystems.html">link</a>)</h2> <h2 id="orgc7bf13d"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems.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.
@ -309,47 +308,47 @@ These subsystems are shared among multiple files.
</p> </p>
<p> <p>
All these subsystems are described <a href="./org/simscape_subsystems.html">here</a>. All these subsystems are described <a href="./simscape_subsystems.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-orgaf10556" class="outline-2"> <div id="outline-container-orgdb0ed73" class="outline-2">
<h2 id="orgaf10556"><span class="section-number-2">4</span> Kinematics of the Station (<a href="./org/kinematics.html">link</a>)</h2> <h2 id="orgdb0ed73"><span class="section-number-2">4</span> Kinematics of the Station (<a href="./kinematics.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.
This permits to test if each stage is moving correctly. This permits to test if each stage is moving correctly.
This is detailed <a href="./org/kinematics.html">here</a>. This is detailed <a href="./kinematics.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org81e1f8e" class="outline-2"> <div id="outline-container-org905bc44" class="outline-2">
<h2 id="org81e1f8e"><span class="section-number-2">5</span> Computation of the positioning error of the Sample (<a href="./org/positioning_error.html">link</a>)</h2> <h2 id="org905bc44"><span class="section-number-2">5</span> Computation of the positioning error of the Sample (<a href="./positioning_error.html">link</a>)</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
<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.
This is done <a href="./org/positioning_error.html">here</a>. This is done <a href="./positioning_error.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org735699c" class="outline-2"> <div id="outline-container-org402c8e6" class="outline-2">
<h2 id="org735699c"><span class="section-number-2">6</span> Tuning of the Dynamics of the Simscape model (<a href="./org/identification.html">link</a>)</h2> <h2 id="org402c8e6"><span class="section-number-2">6</span> Tuning of the Dynamics of the Simscape model (<a href="./identification.html">link</a>)</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-6">
<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.
</p> </p>
<p> <p>
This is explained <a href="./org/identification.html">here</a>. This is explained <a href="./identification.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-org6e28c2c" class="outline-2"> <div id="outline-container-org4dd191b" class="outline-2">
<h2 id="org6e28c2c"><span class="section-number-2">7</span> Disturbances (<a href="./org/disturbances.html">link</a>)</h2> <h2 id="org4dd191b"><span class="section-number-2">7</span> Disturbances (<a href="./disturbances.html">link</a>)</h2>
<div class="outline-text-2" id="text-7"> <div class="outline-text-2" id="text-7">
<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.
@ -357,7 +356,7 @@ These are now converted to force disturbances using the Simscape model.
</p> </p>
<p> <p>
This is discussed <a href="./org/disturbances.html">here</a>. This is discussed <a href="./disturbances.html">here</a>.
</p> </p>
<p> <p>
@ -366,21 +365,21 @@ We also discuss how the disturbances are implemented in the model.
</div> </div>
</div> </div>
<div id="outline-container-org732dbb2" class="outline-2"> <div id="outline-container-org6d7e868" class="outline-2">
<h2 id="org732dbb2"><span class="section-number-2">8</span> Tomography Experiment (<a href="./org/experiments.html">link</a>)</h2> <h2 id="org6d7e868"><span class="section-number-2">8</span> Tomography Experiment (<a href="./experiments.html">link</a>)</h2>
<div class="outline-text-2" id="text-8"> <div class="outline-text-2" id="text-8">
<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="./org/experiments.html">here</a>. Tomography experiments are simulated and the results are presented <a href="./experiments.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
<div id="outline-container-orgede6068" class="outline-2"> <div id="outline-container-org3b8f596" class="outline-2">
<h2 id="orgede6068"><span class="section-number-2">9</span> Active Damping Techniques on the Uni-axial Model (<a href="./org/active_damping_uniaxial.html">link</a>)</h2> <h2 id="org3b8f596"><span class="section-number-2">9</span> Active Damping Techniques on the Uni-axial Model (<a href="./active_damping_uniaxial.html">link</a>)</h2>
<div class="outline-text-2" id="text-9"> <div class="outline-text-2" id="text-9">
<p> <p>
Active damping techniques are applied to the Uniaxial Simscape model. Active damping techniques are applied to the Uniaxial Simscape model.
@ -388,8 +387,8 @@ Active damping techniques are applied to the Uniaxial Simscape model.
</div> </div>
</div> </div>
<div id="outline-container-org145fd12" class="outline-2"> <div id="outline-container-org9fe426f" class="outline-2">
<h2 id="org145fd12"><span class="section-number-2">10</span> Active Damping Techniques on the full Simscape Model (<a href="./org/active_damping.html">link</a>)</h2> <h2 id="org9fe426f"><span class="section-number-2">10</span> Active Damping Techniques on the full Simscape Model (<a href="./active_damping.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 full Simscape model. Active damping techniques are applied to the full Simscape model.
@ -397,22 +396,22 @@ Active damping techniques are applied to the full Simscape model.
</div> </div>
</div> </div>
<div id="outline-container-orgbaf758a" class="outline-2"> <div id="outline-container-org361f405" class="outline-2">
<h2 id="orgbaf758a"><span class="section-number-2">11</span> Useful Matlab Functions (<a href="./org/functions.html">link</a>)</h2> <h2 id="org361f405"><span class="section-number-2">11</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
<div class="outline-text-2" id="text-11"> <div class="outline-text-2" id="text-11">
<p> <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>
<p> <p>
These functions are all defined <a href="./org/functions.html">here</a>. These functions are all defined <a href="./functions.html">here</a>.
</p> </p>
</div> </div>
</div> </div>
</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: 2020-02-25 mar. 18:08</p> <p class="date">Created: 2020-02-25 mar. 18:18</p>
</div> </div>
</body> </body>
</html> </html>

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@ -6,9 +6,6 @@
#+EMAIL: dehaeze.thomas@gmail.com #+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas #+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/> #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/> #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/> #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
@ -43,55 +40,55 @@
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.
* Simulink Project ([[./org/simulink_project.org][link]]) * Simulink Project ([[./simulink_project.org][link]])
The project is managed with a Simulink Project. The project is managed with a Simulink Project.
Such project is briefly presented [[./org/simulink_project.org][here]]. Such project is briefly presented [[./simulink_project.org][here]].
* Simscape Model ([[./org/simscape.org][link]]) * Simscape Model ([[./simscape.org][link]])
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.
Such toolbox is presented [[./org/simscape.org][here]]. Such toolbox is presented [[./simscape.org][here]].
* Simscape Subsystems ([[./org/simscape_subsystems.org][link]]) * Simscape Subsystems ([[./simscape_subsystems.org][link]])
The model is decomposed of multiple subsystems. The model is decomposed of multiple subsystems.
Subsystems can represent physical elements such as complete stages or basic simulink blocs. Subsystems can represent physical elements such as complete stages or basic simulink blocs.
These subsystems are shared among multiple files. These subsystems are shared among multiple files.
All these subsystems are described [[./org/simscape_subsystems.org][here]]. All these subsystems are described [[./simscape_subsystems.org][here]].
* Kinematics of the Station ([[./org/kinematics.org][link]]) * Kinematics of the Station ([[./kinematics.org][link]])
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.
This permits to test if each stage is moving correctly. This permits to test if each stage is moving correctly.
This is detailed [[./org/kinematics.org][here]]. This is detailed [[./kinematics.org][here]].
* Computation of the positioning error of the Sample ([[./org/positioning_error.org][link]]) * Computation of the positioning error of the Sample ([[./positioning_error.org][link]])
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.
This is done [[./org/positioning_error.org][here]]. This is done [[./positioning_error.org][here]].
* Tuning of the Dynamics of the Simscape model ([[./org/identification.org][link]]) * Tuning of the Dynamics of the Simscape model ([[./identification.org][link]])
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.
This is explained [[./org/identification.org][here]]. This is explained [[./identification.org][here]].
* Disturbances ([[./org/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.
This is discussed [[./org/disturbances.org][here]]. 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 ([[./org/experiments.org][link]]) * Tomography 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 [[./org/experiments.org][here]]. Tomography experiments are simulated and the results are presented [[./experiments.org][here]].
* Active Damping Techniques on the Uni-axial Model ([[./org/active_damping_uniaxial.org][link]]) * Active Damping Techniques on the Uni-axial Model ([[./active_damping_uniaxial.org][link]])
Active damping techniques are applied to the Uniaxial Simscape model. Active damping techniques are applied to the Uniaxial Simscape model.
* Active Damping Techniques on the full Simscape Model ([[./org/active_damping.org][link]]) * Active Damping Techniques on the full Simscape Model ([[./active_damping.org][link]])
Active damping techniques are applied to the full Simscape model. Active damping techniques are applied to the full Simscape model.
* Useful Matlab Functions ([[./org/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.
These functions are all defined [[./org/functions.org][here]]. These functions are all defined [[./functions.org][here]].