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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<!-- 2020-01-20 lun. 17:36 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Active Damping applied on the Simscape Model</title>
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@ -284,101 +284,101 @@ for the JavaScript code in this tag.
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#orgdd48309">1. Undamped System</a>
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<li><a href="#org9342dde">1. Undamped System</a>
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<ul>
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<li><a href="#orgf8565a4">1.1. Identification of the dynamics for Active Damping</a>
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<li><a href="#org8d4b4f6">1.1. Identification of the dynamics for Active Damping</a>
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<ul>
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<li><a href="#org8b450dc">1.1.1. Initialize the Simulation</a></li>
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<li><a href="#orge7f3d41">1.1.2. Identification</a></li>
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<li><a href="#orgad0525d">1.1.3. Obtained Plants for Active Damping</a></li>
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<li><a href="#orgb855cd6">1.1.1. Initialize the Simulation</a></li>
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<li><a href="#orgb12b84c">1.1.2. Identification</a></li>
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<li><a href="#org34365e1">1.1.3. Obtained Plants for Active Damping</a></li>
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</ul>
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</li>
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<li><a href="#org77cdeea">1.2. Tomography Experiment</a>
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<li><a href="#orgdb2efe9">1.2. Tomography Experiment</a>
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<ul>
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<li><a href="#orgc066249">1.2.1. Simulation</a></li>
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<li><a href="#org8188f8d">1.2.2. Results</a></li>
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<li><a href="#orgfb2c922">1.2.1. Simulation</a></li>
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<li><a href="#org264103d">1.2.2. Results</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li><a href="#org35ace9a">2. Integral Force Feedback</a>
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<li><a href="#org67089f2">2. Integral Force Feedback</a>
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<ul>
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<li><a href="#org64b724c">2.1. Control Design</a>
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<li><a href="#orgf44db18">2.1. Control Design</a>
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<ul>
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<li><a href="#orga60342f">2.1.1. Plant</a></li>
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<li><a href="#org6e7a3b9">2.1.2. Control Design</a></li>
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<li><a href="#orgcffbce3">2.1.3. Diagonal Controller</a></li>
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<li><a href="#orgaac84c4">2.1.4. IFF with High Pass Filter</a></li>
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<li><a href="#orgf1f220a">2.1.1. Plant</a></li>
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<li><a href="#org9e39d4f">2.1.2. Control Design</a></li>
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<li><a href="#org220ad45">2.1.3. Diagonal Controller</a></li>
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<li><a href="#org6f43c28">2.1.4. IFF with High Pass Filter</a></li>
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</ul>
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</li>
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<li><a href="#org641e0e1">2.2. Tomography Experiment</a>
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<li><a href="#orgbd702ce">2.2. Tomography Experiment</a>
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<ul>
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<li><a href="#org244d5ff">2.2.1. Simulation with IFF Controller</a></li>
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<li><a href="#org40a229f">2.2.2. Simulation with IFF Controller with added High Pass Filter</a></li>
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<li><a href="#org3982074">2.2.3. Compare with Undamped system</a></li>
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<li><a href="#org6c6f2d1">2.2.1. Simulation with IFF Controller</a></li>
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<li><a href="#orgad8bea8">2.2.2. Simulation with IFF Controller with added High Pass Filter</a></li>
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<li><a href="#orgedf02f4">2.2.3. Compare with Undamped system</a></li>
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</ul>
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</li>
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<li><a href="#orgbb282ac">2.3. Conclusion</a></li>
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<li><a href="#orgc5f3f9b">2.3. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#orgf20da86">3. Direct Velocity Feedback</a>
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<li><a href="#org685023c">3. Direct Velocity Feedback</a>
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<ul>
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<li><a href="#org7191e52">3.1. Control Design</a>
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<li><a href="#org60b5b30">3.1. Control Design</a>
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<ul>
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<li><a href="#org56b88cd">3.1.1. Plant</a></li>
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<li><a href="#org8927c04">3.1.2. Control Design</a></li>
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<li><a href="#org27b066a">3.1.3. Diagonal Controller</a></li>
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<li><a href="#orgf848412">3.1.1. Plant</a></li>
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<li><a href="#org42b7fca">3.1.2. Control Design</a></li>
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<li><a href="#org2b8ee35">3.1.3. Diagonal Controller</a></li>
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</ul>
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</li>
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<li><a href="#org7b075f1">3.2. Tomography Experiment</a>
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<li><a href="#org508cd3e">3.2. Tomography Experiment</a>
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<ul>
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<li><a href="#org29dea78">3.2.1. Initialize the Simulation</a></li>
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<li><a href="#org8b648f4">3.2.2. Simulation</a></li>
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<li><a href="#org0def86d">3.2.3. Compare with Undamped system</a></li>
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<li><a href="#org8f01b99">3.2.1. Initialize the Simulation</a></li>
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<li><a href="#org57c8573">3.2.2. Simulation</a></li>
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<li><a href="#org3b80a89">3.2.3. Compare with Undamped system</a></li>
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</ul>
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</li>
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<li><a href="#org857cf6a">3.3. Conclusion</a></li>
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<li><a href="#orgbfc0305">3.3. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#orgad05b75">4. Inertial Control</a>
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<li><a href="#org97c7099">4. Inertial Control</a>
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<ul>
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<li><a href="#orgba4e94a">4.1. Control Design</a>
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<li><a href="#org3d0c40e">4.1. Control Design</a>
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<ul>
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<li><a href="#org5c18fbe">4.1.1. Plant</a></li>
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<li><a href="#orge529b8d">4.1.2. Control Design</a></li>
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<li><a href="#org6119dfa">4.1.3. Diagonal Controller</a></li>
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<li><a href="#org7d50913">4.1.1. Plant</a></li>
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<li><a href="#org3bd6be5">4.1.2. Control Design</a></li>
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<li><a href="#orgb77c3b3">4.1.3. Diagonal Controller</a></li>
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</ul>
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</li>
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<li><a href="#orgbe8a895">4.2. Tomography Experiment</a>
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<li><a href="#orgfa1ca32">4.2. Tomography Experiment</a>
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<ul>
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<li><a href="#org8526a14">4.2.1. Initialize the Simulation</a></li>
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<li><a href="#orga670755">4.2.2. Simulation</a></li>
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<li><a href="#orgdc292f7">4.2.3. Compare with Undamped system</a></li>
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<li><a href="#orgf686c33">4.2.1. Initialize the Simulation</a></li>
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<li><a href="#org1a7fe63">4.2.2. Simulation</a></li>
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<li><a href="#orge8b8bf8">4.2.3. Compare with Undamped system</a></li>
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</ul>
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</li>
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<li><a href="#org4675ff3">4.3. Conclusion</a></li>
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<li><a href="#orgde615df">4.3. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org2cefbfb">5. Comparison</a>
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<li><a href="#orgada4654">5. Comparison</a>
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<ul>
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<li><a href="#org8cef845">5.1. Load the plants</a></li>
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<li><a href="#org4a8616e">5.2. Sensitivity to Disturbance</a></li>
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<li><a href="#orga89ca48">5.3. Damped Plant</a></li>
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<li><a href="#org7a74f40">5.4. Tomography Experiment</a>
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<li><a href="#org2976576">5.1. Load the plants</a></li>
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<li><a href="#org835d9db">5.2. Sensitivity to Disturbance</a></li>
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<li><a href="#orga94123d">5.3. Damped Plant</a></li>
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<li><a href="#org75eccc0">5.4. Tomography Experiment</a>
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<ul>
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<li><a href="#org294c860">5.4.1. Load the Simulation Data</a></li>
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<li><a href="#org70e87cc">5.4.2. Frequency Domain Analysis</a></li>
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<li><a href="#org341a139">5.4.1. Load the Simulation Data</a></li>
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<li><a href="#org267c98c">5.4.2. Frequency Domain Analysis</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li><a href="#org952ed5d">6. Useful Functions</a>
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<li><a href="#org5f0f434">6. Useful Functions</a>
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<ul>
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<li><a href="#orga9b2a73">6.1. prepareTomographyExperiment</a>
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<li><a href="#org6ecc4dc">6.1. prepareTomographyExperiment</a>
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<ul>
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<li><a href="#orgdc8e362">Function Description</a></li>
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<li><a href="#org2d80135">Optional Parameters</a></li>
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<li><a href="#org342966f">Initialize the Simulation</a></li>
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<li><a href="#org435d4b8">Function Description</a></li>
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<li><a href="#org45dbf99">Optional Parameters</a></li>
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<li><a href="#org80d47ea">Initialize the Simulation</a></li>
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</ul>
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</li>
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</ul>
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@ -388,16 +388,16 @@ for the JavaScript code in this tag.
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</div>
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<p>
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First, in section <a href="#org1e95733">1</a>, we will looked at the undamped system.
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First, in section <a href="#org02231b3">1</a>, we will looked at the undamped system.
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</p>
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<p>
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Then, we will compare three active damping techniques:
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</p>
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<ul class="org-ul">
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<li>In section <a href="#org241a667">2</a>: the integral force feedback is used</li>
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<li>In section <a href="#orgc0638ac">3</a>: the direct velocity feedback is used</li>
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<li>In section <a href="#orgbea2985">4</a>: inertial control is used</li>
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<li>In section <a href="#orgd1ce2e4">2</a>: the integral force feedback is used</li>
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<li>In section <a href="#orgafbde82">3</a>: the direct velocity feedback is used</li>
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<li>In section <a href="#org431eadf">4</a>: inertial control is used</li>
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</ul>
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<p>
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@ -417,11 +417,11 @@ The disturbances are:
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<li>Motion errors of all the stages</li>
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</ul>
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<div id="outline-container-orgdd48309" class="outline-2">
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<h2 id="orgdd48309"><span class="section-number-2">1</span> Undamped System</h2>
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<div id="outline-container-org9342dde" class="outline-2">
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<h2 id="org9342dde"><span class="section-number-2">1</span> Undamped System</h2>
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<div class="outline-text-2" id="text-1">
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<p>
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<a id="org1e95733"></a>
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<a id="org02231b3"></a>
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</p>
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<div class="note">
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<p>
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@ -435,12 +435,12 @@ The performance of this undamped system will be compared with the damped system
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</p>
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</div>
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<div id="outline-container-orgf8565a4" class="outline-3">
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<h3 id="orgf8565a4"><span class="section-number-3">1.1</span> Identification of the dynamics for Active Damping</h3>
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<div id="outline-container-org8d4b4f6" class="outline-3">
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<h3 id="org8d4b4f6"><span class="section-number-3">1.1</span> Identification of the dynamics for Active Damping</h3>
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<div class="outline-text-3" id="text-1-1">
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</div>
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<div id="outline-container-org8b450dc" class="outline-4">
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<h4 id="org8b450dc"><span class="section-number-4">1.1.1</span> Initialize the Simulation</h4>
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<div id="outline-container-orgb855cd6" class="outline-4">
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<h4 id="orgb855cd6"><span class="section-number-4">1.1.1</span> Initialize the Simulation</h4>
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<div class="outline-text-4" id="text-1-1-1">
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<p>
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We initialize all the stages with the default parameters.
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@ -491,8 +491,8 @@ save(<span class="org-string">'./mat/controllers.mat'</span>, <span class="org-s
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</div>
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</div>
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<div id="outline-container-orge7f3d41" class="outline-4">
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<h4 id="orge7f3d41"><span class="section-number-4">1.1.2</span> Identification</h4>
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<div id="outline-container-orgb12b84c" class="outline-4">
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<h4 id="orgb12b84c"><span class="section-number-4">1.1.2</span> Identification</h4>
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<div class="outline-text-4" id="text-1-1-2">
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<p>
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First, we identify the dynamics of the system using the <code>linearize</code> function.
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@ -541,25 +541,25 @@ And we save them for further analysis.
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</div>
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</div>
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<div id="outline-container-orgad0525d" class="outline-4">
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<h4 id="orgad0525d"><span class="section-number-4">1.1.3</span> Obtained Plants for Active Damping</h4>
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<div id="outline-container-org34365e1" class="outline-4">
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<h4 id="org34365e1"><span class="section-number-4">1.1.3</span> Obtained Plants for Active Damping</h4>
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<div class="outline-text-4" id="text-1-1-3">
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<div id="org6f986cc" class="figure">
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<div id="orgac91a7a" class="figure">
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<p><img src="figs/nass_active_damping_iff_plant.png" alt="nass_active_damping_iff_plant.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span><code>G_iff</code>: IFF Plant (<a href="./figs/nass_active_damping_iff_plant.png">png</a>, <a href="./figs/nass_active_damping_iff_plant.pdf">pdf</a>)</p>
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</div>
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<div id="org5c7577f" class="figure">
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<div id="org97d6cca" class="figure">
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<p><img src="figs/nass_active_damping_ine_plant.png" alt="nass_active_damping_ine_plant.png" />
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</p>
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<p><span class="figure-number">Figure 2: </span><code>G_dvf</code>: Plant for Direct Velocity Feedback (<a href="./figs/nass_active_damping_dvf_plant.png">png</a>, <a href="./figs/nass_active_damping_dvf_plant.pdf">pdf</a>)</p>
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</div>
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<div id="org2be03d7" class="figure">
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<div id="orgbb6a16f" class="figure">
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<p><img src="figs/nass_active_damping_inertial_plant.png" alt="nass_active_damping_inertial_plant.png" />
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</p>
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<p><span class="figure-number">Figure 3: </span>Inertial Feedback Plant (<a href="./figs/nass_active_damping_inertial_plant.png">png</a>, <a href="./figs/nass_active_damping_inertial_plant.pdf">pdf</a>)</p>
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@ -568,12 +568,12 @@ And we save them for further analysis.
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</div>
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</div>
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<div id="outline-container-org77cdeea" class="outline-3">
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<h3 id="org77cdeea"><span class="section-number-3">1.2</span> Tomography Experiment</h3>
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<div id="outline-container-orgdb2efe9" class="outline-3">
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<h3 id="orgdb2efe9"><span class="section-number-3">1.2</span> Tomography Experiment</h3>
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<div class="outline-text-3" id="text-1-2">
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</div>
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<div id="outline-container-orgc066249" class="outline-4">
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<h4 id="orgc066249"><span class="section-number-4">1.2.1</span> Simulation</h4>
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<div id="outline-container-orgfb2c922" class="outline-4">
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<h4 id="orgfb2c922"><span class="section-number-4">1.2.1</span> Simulation</h4>
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<div class="outline-text-4" id="text-1-2-1">
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<p>
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We initialize elements for the tomography experiment.
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@ -610,8 +610,8 @@ Finally, we save the simulation results for further analysis
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</div>
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</div>
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<div id="outline-container-org8188f8d" class="outline-4">
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<h4 id="org8188f8d"><span class="section-number-4">1.2.2</span> Results</h4>
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<div id="outline-container-org264103d" class="outline-4">
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<h4 id="org264103d"><span class="section-number-4">1.2.2</span> Results</h4>
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<div class="outline-text-4" id="text-1-2-2">
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<p>
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We load the results of tomography experiments.
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@ -623,14 +623,14 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
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</div>
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<div id="org3e63333" class="figure">
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<div id="org625b4f8" class="figure">
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<p><img src="figs/nass_act_damp_undamped_sim_tomo_trans.png" alt="nass_act_damp_undamped_sim_tomo_trans.png" />
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</p>
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<p><span class="figure-number">Figure 4: </span>Position Error during tomography experiment - Translations (<a href="./figs/nass_act_damp_undamped_sim_tomo_trans.png">png</a>, <a href="./figs/nass_act_damp_undamped_sim_tomo_trans.pdf">pdf</a>)</p>
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</div>
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<div id="org2dc3b85" class="figure">
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<div id="orgd213d43" class="figure">
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<p><img src="figs/nass_act_damp_undamped_sim_tomo_rot.png" alt="nass_act_damp_undamped_sim_tomo_rot.png" />
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</p>
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<p><span class="figure-number">Figure 5: </span>Position Error during tomography experiment - Rotations (<a href="./figs/nass_act_damp_undamped_sim_tomo_rot.png">png</a>, <a href="./figs/nass_act_damp_undamped_sim_tomo_rot.pdf">pdf</a>)</p>
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@ -640,11 +640,11 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
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</div>
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</div>
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<div id="outline-container-org35ace9a" class="outline-2">
|
||||
<h2 id="org35ace9a"><span class="section-number-2">2</span> Integral Force Feedback</h2>
|
||||
<div id="outline-container-org67089f2" class="outline-2">
|
||||
<h2 id="org67089f2"><span class="section-number-2">2</span> Integral Force Feedback</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
<a id="org241a667"></a>
|
||||
<a id="orgd1ce2e4"></a>
|
||||
</p>
|
||||
<div class="note">
|
||||
<p>
|
||||
@ -657,12 +657,12 @@ Integral Force Feedback is applied on the simscape model.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org64b724c" class="outline-3">
|
||||
<h3 id="org64b724c"><span class="section-number-3">2.1</span> Control Design</h3>
|
||||
<div id="outline-container-orgf44db18" class="outline-3">
|
||||
<h3 id="orgf44db18"><span class="section-number-3">2.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
</div>
|
||||
<div id="outline-container-orga60342f" class="outline-4">
|
||||
<h4 id="orga60342f"><span class="section-number-4">2.1.1</span> Plant</h4>
|
||||
<div id="outline-container-orgf1f220a" class="outline-4">
|
||||
<h4 id="orgf1f220a"><span class="section-number-4">2.1.1</span> Plant</h4>
|
||||
<div class="outline-text-4" id="text-2-1-1">
|
||||
<p>
|
||||
Let’s load the previously indentified undamped plant:
|
||||
@ -673,11 +673,11 @@ Let’s load the previously indentified undamped plant:
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor (figure <a href="#org627c128">6</a>).
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor (figure <a href="#orgac31951">6</a>).
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org627c128" class="figure">
|
||||
<div id="orgac31951" class="figure">
|
||||
<p><img src="figs/iff_plant.png" alt="iff_plant.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Transfer function from forces applied in the legs to force sensor (<a href="./figs/iff_plant.png">png</a>, <a href="./figs/iff_plant.pdf">pdf</a>)</p>
|
||||
@ -685,8 +685,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6e7a3b9" class="outline-4">
|
||||
<h4 id="org6e7a3b9"><span class="section-number-4">2.1.2</span> Control Design</h4>
|
||||
<div id="outline-container-org9e39d4f" class="outline-4">
|
||||
<h4 id="org9e39d4f"><span class="section-number-4">2.1.2</span> Control Design</h4>
|
||||
<div class="outline-text-4" id="text-2-1-2">
|
||||
<p>
|
||||
The controller for each pair of actuator/sensor is:
|
||||
@ -697,11 +697,11 @@ The controller for each pair of actuator/sensor is:
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The corresponding loop gains are shown in figure <a href="#org79e2120">7</a>.
|
||||
The corresponding loop gains are shown in figure <a href="#org4d8791f">7</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org79e2120" class="figure">
|
||||
<div id="org4d8791f" class="figure">
|
||||
<p><img src="figs/iff_open_loop.png" alt="iff_open_loop.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Loop Gain for the Integral Force Feedback (<a href="./figs/iff_open_loop.png">png</a>, <a href="./figs/iff_open_loop.pdf">pdf</a>)</p>
|
||||
@ -709,8 +709,8 @@ The corresponding loop gains are shown in figure <a href="#org79e2120">7</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcffbce3" class="outline-4">
|
||||
<h4 id="orgcffbce3"><span class="section-number-4">2.1.3</span> Diagonal Controller</h4>
|
||||
<div id="outline-container-org220ad45" class="outline-4">
|
||||
<h4 id="org220ad45"><span class="section-number-4">2.1.3</span> Diagonal Controller</h4>
|
||||
<div class="outline-text-4" id="text-2-1-3">
|
||||
<p>
|
||||
We create the diagonal controller and we add a minus sign as we have a positive
|
||||
@ -731,8 +731,8 @@ We save the controller for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgaac84c4" class="outline-4">
|
||||
<h4 id="orgaac84c4"><span class="section-number-4">2.1.4</span> IFF with High Pass Filter</h4>
|
||||
<div id="outline-container-org6f43c28" class="outline-4">
|
||||
<h4 id="org6f43c28"><span class="section-number-4">2.1.4</span> IFF with High Pass Filter</h4>
|
||||
<div class="outline-text-4" id="text-2-1-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">w_hpf = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>10; <span class="org-comment">% Cut-off frequency for the high pass filter [rad/s]</span>
|
||||
@ -743,10 +743,10 @@ K_iff = 2<span class="org-type">*</span><span class="org-constant">pi</span><spa
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The corresponding loop gains are shown in figure <a href="#org29c690e">8</a>.
|
||||
The corresponding loop gains are shown in figure <a href="#orgee0b506">8</a>.
|
||||
</p>
|
||||
|
||||
<div id="org29c690e" class="figure">
|
||||
<div id="orgee0b506" class="figure">
|
||||
<p><img src="figs/iff_hpf_open_loop.png" alt="iff_hpf_open_loop.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Loop Gain for the Integral Force Feedback with an High pass filter (<a href="./figs/iff_hpf_open_loop.png">png</a>, <a href="./figs/iff_hpf_open_loop.pdf">pdf</a>)</p>
|
||||
@ -772,12 +772,12 @@ We save the controller for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org641e0e1" class="outline-3">
|
||||
<h3 id="org641e0e1"><span class="section-number-3">2.2</span> Tomography Experiment</h3>
|
||||
<div id="outline-container-orgbd702ce" class="outline-3">
|
||||
<h3 id="orgbd702ce"><span class="section-number-3">2.2</span> Tomography Experiment</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
</div>
|
||||
<div id="outline-container-org244d5ff" class="outline-4">
|
||||
<h4 id="org244d5ff"><span class="section-number-4">2.2.1</span> Simulation with IFF Controller</h4>
|
||||
<div id="outline-container-org6c6f2d1" class="outline-4">
|
||||
<h4 id="org6c6f2d1"><span class="section-number-4">2.2.1</span> Simulation with IFF Controller</h4>
|
||||
<div class="outline-text-4" id="text-2-2-1">
|
||||
<p>
|
||||
We initialize elements for the tomography experiment.
|
||||
@ -825,8 +825,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org40a229f" class="outline-4">
|
||||
<h4 id="org40a229f"><span class="section-number-4">2.2.2</span> Simulation with IFF Controller with added High Pass Filter</h4>
|
||||
<div id="outline-container-orgad8bea8" class="outline-4">
|
||||
<h4 id="orgad8bea8"><span class="section-number-4">2.2.2</span> Simulation with IFF Controller with added High Pass Filter</h4>
|
||||
<div class="outline-text-4" id="text-2-2-2">
|
||||
<p>
|
||||
We initialize elements for the tomography experiment.
|
||||
@ -874,8 +874,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3982074" class="outline-4">
|
||||
<h4 id="org3982074"><span class="section-number-4">2.2.3</span> Compare with Undamped system</h4>
|
||||
<div id="outline-container-orgedf02f4" class="outline-4">
|
||||
<h4 id="orgedf02f4"><span class="section-number-4">2.2.3</span> Compare with Undamped system</h4>
|
||||
<div class="outline-text-4" id="text-2-2-3">
|
||||
<p>
|
||||
We load the results of tomography experiments.
|
||||
@ -887,21 +887,21 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org60cba32" class="figure">
|
||||
<div id="orgbe947f0" class="figure">
|
||||
<p><img src="figs/nass_act_damp_iff_sim_tomo_xy.png" alt="nass_act_damp_iff_sim_tomo_xy.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Position Error during tomography experiment - XY Motion (<a href="./figs/nass_act_damp_iff_sim_tomo_xy.png">png</a>, <a href="./figs/nass_act_damp_iff_sim_tomo_xy.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orga362dc6" class="figure">
|
||||
<div id="orgc275297" class="figure">
|
||||
<p><img src="figs/nass_act_damp_iff_sim_tomo_trans.png" alt="nass_act_damp_iff_sim_tomo_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Position Error during tomography experiment - Translations (<a href="./figs/nass_act_damp_iff_sim_tomo_trans.png">png</a>, <a href="./figs/nass_act_damp_iff_sim_tomo_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgf19ed92" class="figure">
|
||||
<div id="org03d0c7d" class="figure">
|
||||
<p><img src="figs/nass_act_damp_iff_sim_tomo_rot.png" alt="nass_act_damp_iff_sim_tomo_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 11: </span>Position Error during tomography experiment - Rotations (<a href="./figs/nass_act_damp_iff_sim_tomo_rot.png">png</a>, <a href="./figs/nass_act_damp_iff_sim_tomo_rot.pdf">pdf</a>)</p>
|
||||
@ -910,8 +910,8 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbb282ac" class="outline-3">
|
||||
<h3 id="orgbb282ac"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div id="outline-container-orgc5f3f9b" class="outline-3">
|
||||
<h3 id="orgc5f3f9b"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@ -928,11 +928,11 @@ Integral Force Feedback:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf20da86" class="outline-2">
|
||||
<h2 id="orgf20da86"><span class="section-number-2">3</span> Direct Velocity Feedback</h2>
|
||||
<div id="outline-container-org685023c" class="outline-2">
|
||||
<h2 id="org685023c"><span class="section-number-2">3</span> Direct Velocity Feedback</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="orgc0638ac"></a>
|
||||
<a id="orgafbde82"></a>
|
||||
</p>
|
||||
<div class="note">
|
||||
<p>
|
||||
@ -946,12 +946,12 @@ The actuator displacement can be measured with a capacitive sensor for instance.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7191e52" class="outline-3">
|
||||
<h3 id="org7191e52"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div id="outline-container-org60b5b30" class="outline-3">
|
||||
<h3 id="org60b5b30"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
</div>
|
||||
<div id="outline-container-org56b88cd" class="outline-4">
|
||||
<h4 id="org56b88cd"><span class="section-number-4">3.1.1</span> Plant</h4>
|
||||
<div id="outline-container-orgf848412" class="outline-4">
|
||||
<h4 id="orgf848412"><span class="section-number-4">3.1.1</span> Plant</h4>
|
||||
<div class="outline-text-4" id="text-3-1-1">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@ -962,11 +962,11 @@ Let’s load the undamped plant:
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured displacement of the actuator for all 6 pairs of actuator/sensor (figure <a href="#orgbb00993">12</a>).
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured displacement of the actuator for all 6 pairs of actuator/sensor (figure <a href="#org8ead4ee">12</a>).
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgbb00993" class="figure">
|
||||
<div id="org8ead4ee" class="figure">
|
||||
<p><img src="figs/dvf_plant.png" alt="dvf_plant.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 12: </span>Transfer function from forces applied in the legs to leg displacement sensor (<a href="./figs/dvf_plant.png">png</a>, <a href="./figs/dvf_plant.pdf">pdf</a>)</p>
|
||||
@ -974,8 +974,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8927c04" class="outline-4">
|
||||
<h4 id="org8927c04"><span class="section-number-4">3.1.2</span> Control Design</h4>
|
||||
<div id="outline-container-org42b7fca" class="outline-4">
|
||||
<h4 id="org42b7fca"><span class="section-number-4">3.1.2</span> Control Design</h4>
|
||||
<div class="outline-text-4" id="text-3-1-2">
|
||||
<p>
|
||||
The Direct Velocity Feedback is defined below.
|
||||
@ -987,11 +987,11 @@ A Low pass Filter is added to make the controller transfer function proper.
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The obtained loop gains are shown in figure <a href="#orga64af99">13</a>.
|
||||
The obtained loop gains are shown in figure <a href="#orge5257d3">13</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orga64af99" class="figure">
|
||||
<div id="orge5257d3" class="figure">
|
||||
<p><img src="figs/dvf_open_loop.png" alt="dvf_open_loop.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 13: </span>Loop Gain for the Integral Force Feedback (<a href="./figs/dvf_open_loop.png">png</a>, <a href="./figs/dvf_open_loop.pdf">pdf</a>)</p>
|
||||
@ -999,8 +999,8 @@ The obtained loop gains are shown in figure <a href="#orga64af99">13</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org27b066a" class="outline-4">
|
||||
<h4 id="org27b066a"><span class="section-number-4">3.1.3</span> Diagonal Controller</h4>
|
||||
<div id="outline-container-org2b8ee35" class="outline-4">
|
||||
<h4 id="org2b8ee35"><span class="section-number-4">3.1.3</span> Diagonal Controller</h4>
|
||||
<div class="outline-text-4" id="text-3-1-3">
|
||||
<p>
|
||||
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
||||
@ -1021,12 +1021,12 @@ We save the controller for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7b075f1" class="outline-3">
|
||||
<h3 id="org7b075f1"><span class="section-number-3">3.2</span> Tomography Experiment</h3>
|
||||
<div id="outline-container-org508cd3e" class="outline-3">
|
||||
<h3 id="org508cd3e"><span class="section-number-3">3.2</span> Tomography Experiment</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
</div>
|
||||
<div id="outline-container-org29dea78" class="outline-4">
|
||||
<h4 id="org29dea78"><span class="section-number-4">3.2.1</span> Initialize the Simulation</h4>
|
||||
<div id="outline-container-org8f01b99" class="outline-4">
|
||||
<h4 id="org8f01b99"><span class="section-number-4">3.2.1</span> Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-3-2-1">
|
||||
<p>
|
||||
We initialize elements for the tomography experiment.
|
||||
@ -1047,8 +1047,8 @@ save(<span class="org-string">'./mat/controllers.mat'</span>, <span class="org-s
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8b648f4" class="outline-4">
|
||||
<h4 id="org8b648f4"><span class="section-number-4">3.2.2</span> Simulation</h4>
|
||||
<div id="outline-container-org57c8573" class="outline-4">
|
||||
<h4 id="org57c8573"><span class="section-number-4">3.2.2</span> Simulation</h4>
|
||||
<div class="outline-text-4" id="text-3-2-2">
|
||||
<p>
|
||||
We change the simulation stop time.
|
||||
@ -1079,8 +1079,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0def86d" class="outline-4">
|
||||
<h4 id="org0def86d"><span class="section-number-4">3.2.3</span> Compare with Undamped system</h4>
|
||||
<div id="outline-container-org3b80a89" class="outline-4">
|
||||
<h4 id="org3b80a89"><span class="section-number-4">3.2.3</span> Compare with Undamped system</h4>
|
||||
<div class="outline-text-4" id="text-3-2-3">
|
||||
<p>
|
||||
We load the results of tomography experiments.
|
||||
@ -1092,21 +1092,21 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgdb79ac6" class="figure">
|
||||
<div id="org9c27ffd" class="figure">
|
||||
<p><img src="figs/nass_act_damp_dvf_sim_tomo_xy.png" alt="nass_act_damp_dvf_sim_tomo_xy.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 14: </span>Position Error during tomography experiment - XY Motion (<a href="./figs/nass_act_damp_dvf_sim_tomo_xy.png">png</a>, <a href="./figs/nass_act_damp_dvf_sim_tomo_xy.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org9757afc" class="figure">
|
||||
<div id="org9e590a1" class="figure">
|
||||
<p><img src="figs/nass_act_damp_dvf_sim_tomo_trans.png" alt="nass_act_damp_dvf_sim_tomo_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 15: </span>Position Error during tomography experiment - Translations (<a href="./figs/nass_act_damp_dvf_sim_tomo_trans.png">png</a>, <a href="./figs/nass_act_damp_dvf_sim_tomo_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orge7307ca" class="figure">
|
||||
<div id="orgf861835" class="figure">
|
||||
<p><img src="figs/nass_act_damp_dvf_sim_tomo_rot.png" alt="nass_act_damp_dvf_sim_tomo_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 16: </span>Position Error during tomography experiment - Rotations (<a href="./figs/nass_act_damp_dvf_sim_tomo_rot.png">png</a>, <a href="./figs/nass_act_damp_dvf_sim_tomo_rot.pdf">pdf</a>)</p>
|
||||
@ -1115,8 +1115,8 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org857cf6a" class="outline-3">
|
||||
<h3 id="org857cf6a"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div id="outline-container-orgbfc0305" class="outline-3">
|
||||
<h3 id="orgbfc0305"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@ -1131,11 +1131,11 @@ Direct Velocity Feedback:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgad05b75" class="outline-2">
|
||||
<h2 id="orgad05b75"><span class="section-number-2">4</span> Inertial Control</h2>
|
||||
<div id="outline-container-org97c7099" class="outline-2">
|
||||
<h2 id="org97c7099"><span class="section-number-2">4</span> Inertial Control</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
<a id="orgbea2985"></a>
|
||||
<a id="org431eadf"></a>
|
||||
</p>
|
||||
<div class="note">
|
||||
<p>
|
||||
@ -1148,12 +1148,12 @@ In Inertial Control, a feedback is applied between the measured <b>absolute</b>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgba4e94a" class="outline-3">
|
||||
<h3 id="orgba4e94a"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div id="outline-container-org3d0c40e" class="outline-3">
|
||||
<h3 id="org3d0c40e"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
</div>
|
||||
<div id="outline-container-org5c18fbe" class="outline-4">
|
||||
<h4 id="org5c18fbe"><span class="section-number-4">4.1.1</span> Plant</h4>
|
||||
<div id="outline-container-org7d50913" class="outline-4">
|
||||
<h4 id="org7d50913"><span class="section-number-4">4.1.1</span> Plant</h4>
|
||||
<div class="outline-text-4" id="text-4-1-1">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@ -1164,11 +1164,11 @@ Let’s load the undamped plant:
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured velocity of the nano-hexapod platform in the direction of the corresponding actuator for all 6 pairs of actuator/sensor (figure <a href="#orgbb536dd">17</a>).
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured velocity of the nano-hexapod platform in the direction of the corresponding actuator for all 6 pairs of actuator/sensor (figure <a href="#org5d67443">17</a>).
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgbb536dd" class="figure">
|
||||
<div id="org5d67443" class="figure">
|
||||
<p><img src="figs/ine_plant.png" alt="ine_plant.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 17: </span>Transfer function from forces applied in the legs to leg velocity sensor (<a href="./figs/ine_plant.png">png</a>, <a href="./figs/ine_plant.pdf">pdf</a>)</p>
|
||||
@ -1176,11 +1176,11 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge529b8d" class="outline-4">
|
||||
<h4 id="orge529b8d"><span class="section-number-4">4.1.2</span> Control Design</h4>
|
||||
<div id="outline-container-org3bd6be5" class="outline-4">
|
||||
<h4 id="org3bd6be5"><span class="section-number-4">4.1.2</span> Control Design</h4>
|
||||
<div class="outline-text-4" id="text-4-1-2">
|
||||
<p>
|
||||
The controller is defined below and the obtained loop gain is shown in figure <a href="#orgfbc4d0e">18</a>.
|
||||
The controller is defined below and the obtained loop gain is shown in figure <a href="#org2b27a68">18</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -1189,7 +1189,7 @@ The controller is defined below and the obtained loop gain is shown in figure <a
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgfbc4d0e" class="figure">
|
||||
<div id="org2b27a68" class="figure">
|
||||
<p><img src="figs/ine_open_loop_gain.png" alt="ine_open_loop_gain.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 18: </span>Loop Gain for Inertial Control (<a href="./figs/ine_open_loop_gain.png">png</a>, <a href="./figs/ine_open_loop_gain.pdf">pdf</a>)</p>
|
||||
@ -1197,8 +1197,8 @@ The controller is defined below and the obtained loop gain is shown in figure <a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6119dfa" class="outline-4">
|
||||
<h4 id="org6119dfa"><span class="section-number-4">4.1.3</span> Diagonal Controller</h4>
|
||||
<div id="outline-container-orgb77c3b3" class="outline-4">
|
||||
<h4 id="orgb77c3b3"><span class="section-number-4">4.1.3</span> Diagonal Controller</h4>
|
||||
<div class="outline-text-4" id="text-4-1-3">
|
||||
<p>
|
||||
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
||||
@ -1219,12 +1219,12 @@ We save the controller for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbe8a895" class="outline-3">
|
||||
<h3 id="orgbe8a895"><span class="section-number-3">4.2</span> Tomography Experiment</h3>
|
||||
<div id="outline-container-orgfa1ca32" class="outline-3">
|
||||
<h3 id="orgfa1ca32"><span class="section-number-3">4.2</span> Tomography Experiment</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
</div>
|
||||
<div id="outline-container-org8526a14" class="outline-4">
|
||||
<h4 id="org8526a14"><span class="section-number-4">4.2.1</span> Initialize the Simulation</h4>
|
||||
<div id="outline-container-orgf686c33" class="outline-4">
|
||||
<h4 id="orgf686c33"><span class="section-number-4">4.2.1</span> Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-4-2-1">
|
||||
<p>
|
||||
We initialize elements for the tomography experiment.
|
||||
@ -1245,8 +1245,8 @@ save(<span class="org-string">'./mat/controllers.mat'</span>, <span class="org-s
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga670755" class="outline-4">
|
||||
<h4 id="orga670755"><span class="section-number-4">4.2.2</span> Simulation</h4>
|
||||
<div id="outline-container-org1a7fe63" class="outline-4">
|
||||
<h4 id="org1a7fe63"><span class="section-number-4">4.2.2</span> Simulation</h4>
|
||||
<div class="outline-text-4" id="text-4-2-2">
|
||||
<p>
|
||||
We change the simulation stop time.
|
||||
@ -1277,8 +1277,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdc292f7" class="outline-4">
|
||||
<h4 id="orgdc292f7"><span class="section-number-4">4.2.3</span> Compare with Undamped system</h4>
|
||||
<div id="outline-container-orge8b8bf8" class="outline-4">
|
||||
<h4 id="orge8b8bf8"><span class="section-number-4">4.2.3</span> Compare with Undamped system</h4>
|
||||
<div class="outline-text-4" id="text-4-2-3">
|
||||
<p>
|
||||
We load the results of tomography experiments.
|
||||
@ -1290,21 +1290,21 @@ t = linspace(0, 3, length(En_ine(<span class="org-type">:</span>,1)));
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org46006fa" class="figure">
|
||||
<div id="orgab8bdcc" class="figure">
|
||||
<p><img src="figs/nass_act_damp_ine_sim_tomo_xy.png" alt="nass_act_damp_ine_sim_tomo_xy.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 19: </span>Position Error during tomography experiment - XY Motion (<a href="./figs/nass_act_damp_ine_sim_tomo_xy.png">png</a>, <a href="./figs/nass_act_damp_ine_sim_tomo_xy.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgb258d75" class="figure">
|
||||
<div id="org179b8c0" class="figure">
|
||||
<p><img src="figs/nass_act_damp_ine_sim_tomo_trans.png" alt="nass_act_damp_ine_sim_tomo_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 20: </span>Position Error during tomography experiment - Translations (<a href="./figs/nass_act_damp_ine_sim_tomo_trans.png">png</a>, <a href="./figs/nass_act_damp_ine_sim_tomo_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org93e0404" class="figure">
|
||||
<div id="org5050229" class="figure">
|
||||
<p><img src="figs/nass_act_damp_ine_sim_tomo_rot.png" alt="nass_act_damp_ine_sim_tomo_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 21: </span>Position Error during tomography experiment - Rotations (<a href="./figs/nass_act_damp_ine_sim_tomo_rot.png">png</a>, <a href="./figs/nass_act_damp_ine_sim_tomo_rot.pdf">pdf</a>)</p>
|
||||
@ -1313,8 +1313,8 @@ t = linspace(0, 3, length(En_ine(<span class="org-type">:</span>,1)));
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4675ff3" class="outline-3">
|
||||
<h3 id="org4675ff3"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
<div id="outline-container-orgde615df" class="outline-3">
|
||||
<h3 id="orgde615df"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@ -1326,15 +1326,15 @@ Inertial Control:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2cefbfb" class="outline-2">
|
||||
<h2 id="org2cefbfb"><span class="section-number-2">5</span> Comparison</h2>
|
||||
<div id="outline-container-orgada4654" class="outline-2">
|
||||
<h2 id="orgada4654"><span class="section-number-2">5</span> Comparison</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<p>
|
||||
<a id="org96bfb90"></a>
|
||||
<a id="org98830ef"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org8cef845" class="outline-3">
|
||||
<h3 id="org8cef845"><span class="section-number-3">5.1</span> Load the plants</h3>
|
||||
<div id="outline-container-org2976576" class="outline-3">
|
||||
<h3 id="org2976576"><span class="section-number-3">5.1</span> Load the plants</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./active_damping/mat/plants.mat'</span>, <span class="org-string">'G'</span>, <span class="org-string">'G_iff'</span>, <span class="org-string">'G_ine'</span>, <span class="org-string">'G_dvf'</span>);
|
||||
@ -1343,79 +1343,80 @@ Inertial Control:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4a8616e" class="outline-3">
|
||||
<h3 id="org4a8616e"><span class="section-number-3">5.2</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-org835d9db" class="outline-3">
|
||||
<h3 id="org835d9db"><span class="section-number-3">5.2</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
|
||||
<div id="orgd8c0d0b" class="figure">
|
||||
<div id="orgdf47c67" class="figure">
|
||||
<p><img src="figs/sensitivity_comp_ground_motion_z.png" alt="sensitivity_comp_ground_motion_z.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 22: </span>caption (<a href="./figs/sensitivity_comp_ground_motion_z.png">png</a>, <a href="./figs/sensitivity_comp_ground_motion_z.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 22: </span>Sensitivity to ground motion in the Z direction on the Z motion error (<a href="./figs/sensitivity_comp_ground_motion_z.png">png</a>, <a href="./figs/sensitivity_comp_ground_motion_z.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div id="orgd07cb74" class="figure">
|
||||
<div id="orgfc493eb" class="figure">
|
||||
<p><img src="figs/sensitivity_comp_direct_forces_z.png" alt="sensitivity_comp_direct_forces_z.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 23: </span>caption (<a href="./figs/sensitivity_comp_direct_forces_z.png">png</a>, <a href="./figs/sensitivity_comp_direct_forces_z.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 23: </span>Compliance in the Z direction: Sensitivity of direct forces applied on the sample in the Z direction on the Z motion error (<a href="./figs/sensitivity_comp_direct_forces_z.png">png</a>, <a href="./figs/sensitivity_comp_direct_forces_z.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org8e48ed2" class="figure">
|
||||
<div id="org31dee6d" class="figure">
|
||||
<p><img src="figs/sensitivity_comp_spindle_z.png" alt="sensitivity_comp_spindle_z.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 24: </span>caption (<a href="./figs/sensitivity_comp_spindle_z.png">png</a>, <a href="./figs/sensitivity_comp_spindle_z.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 24: </span>Sensitivity to forces applied in the Z direction by the Spindle on the Z motion error (<a href="./figs/sensitivity_comp_spindle_z.png">png</a>, <a href="./figs/sensitivity_comp_spindle_z.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgefa125c" class="figure">
|
||||
<div id="orgc54a0c8" class="figure">
|
||||
<p><img src="figs/sensitivity_comp_ty_z.png" alt="sensitivity_comp_ty_z.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 25: </span>caption (<a href="./figs/sensitivity_comp_ty_z.png">png</a>, <a href="./figs/sensitivity_comp_ty_z.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 25: </span>Sensitivity to forces applied in the Z direction by the Y translation stage on the Z motion error (<a href="./figs/sensitivity_comp_ty_z.png">png</a>, <a href="./figs/sensitivity_comp_ty_z.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div id="org46a1428" class="figure">
|
||||
<div id="orgf732728" class="figure">
|
||||
<p><img src="figs/sensitivity_comp_ty_x.png" alt="sensitivity_comp_ty_x.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 26: </span>caption (<a href="./figs/sensitivity_comp_ty_x.png">png</a>, <a href="./figs/sensitivity_comp_ty_x.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 26: </span>Sensitivity to forces applied in the X direction by the Y translation stage on the X motion error (<a href="./figs/sensitivity_comp_ty_x.png">png</a>, <a href="./figs/sensitivity_comp_ty_x.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga89ca48" class="outline-3">
|
||||
<h3 id="orga89ca48"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
||||
<div id="outline-container-orga94123d" class="outline-3">
|
||||
<h3 id="orga94123d"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
|
||||
<div id="orge6466ce" class="figure">
|
||||
<div id="org7f947f5" class="figure">
|
||||
<p><img src="figs/plant_comp_damping_z.png" alt="plant_comp_damping_z.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 27: </span>Plant for the \(z\) direction for different active damping technique used (<a href="./figs/plant_comp_damping_z.png">png</a>, <a href="./figs/plant_comp_damping_z.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org48a88cc" class="figure">
|
||||
<div id="orgaf1a7e2" class="figure">
|
||||
<p><img src="figs/plant_comp_damping_x.png" alt="plant_comp_damping_x.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 28: </span>Plant for the \(x\) direction for different active damping technique used (<a href="./figs/plant_comp_damping_x.png">png</a>, <a href="./figs/plant_comp_damping_x.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgeec8390" class="figure">
|
||||
<div id="org421e4e1" class="figure">
|
||||
<p><img src="figs/plant_comp_damping_coupling.png" alt="plant_comp_damping_coupling.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 29: </span>Comparison of one off-diagonal plant for different damping technique applied (<a href="./figs/plant_comp_damping_coupling.png">png</a>, <a href="./figs/plant_comp_damping_coupling.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org7a74f40" class="outline-3">
|
||||
<h3 id="org7a74f40"><span class="section-number-3">5.4</span> Tomography Experiment</h3>
|
||||
|
||||
<div id="outline-container-org75eccc0" class="outline-3">
|
||||
<h3 id="org75eccc0"><span class="section-number-3">5.4</span> Tomography Experiment</h3>
|
||||
<div class="outline-text-3" id="text-5-4">
|
||||
</div>
|
||||
<div id="outline-container-org294c860" class="outline-4">
|
||||
<h4 id="org294c860"><span class="section-number-4">5.4.1</span> Load the Simulation Data</h4>
|
||||
<div id="outline-container-org341a139" class="outline-4">
|
||||
<h4 id="org341a139"><span class="section-number-4">5.4.1</span> Load the Simulation Data</h4>
|
||||
<div class="outline-text-4" id="text-5-4-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span class="org-string">'En'</span>, <span class="org-string">'En_iff_hpf'</span>, <span class="org-string">'En_dvf'</span>, <span class="org-string">'En_ine'</span>);
|
||||
@ -1426,8 +1427,8 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org70e87cc" class="outline-4">
|
||||
<h4 id="org70e87cc"><span class="section-number-4">5.4.2</span> Frequency Domain Analysis</h4>
|
||||
<div id="outline-container-org267c98c" class="outline-4">
|
||||
<h4 id="org267c98c"><span class="section-number-4">5.4.2</span> Frequency Domain Analysis</h4>
|
||||
<div class="outline-text-4" id="text-5-4-2">
|
||||
<p>
|
||||
Window used for <code>pwelch</code> function.
|
||||
@ -1439,28 +1440,28 @@ han_win = hanning(ceil(length(En(<span class="org-type">:</span>, 1))<span class
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org5597081" class="figure">
|
||||
<div id="orga580e07" class="figure">
|
||||
<p><img src="figs/act_damp_tomo_exp_comp_psd_trans.png" alt="act_damp_tomo_exp_comp_psd_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 30: </span>PSD of the translation errors for applied Active Damping techniques (<a href="./figs/act_damp_tomo_exp_comp_psd_trans.png">png</a>, <a href="./figs/act_damp_tomo_exp_comp_psd_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org3145e09" class="figure">
|
||||
<div id="orgdf9a147" class="figure">
|
||||
<p><img src="figs/act_damp_tomo_exp_comp_psd_rot.png" alt="act_damp_tomo_exp_comp_psd_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 31: </span>PSD of the rotation errors for applied Active Damping techniques (<a href="./figs/act_damp_tomo_exp_comp_psd_rot.png">png</a>, <a href="./figs/act_damp_tomo_exp_comp_psd_rot.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org4e62d44" class="figure">
|
||||
<div id="orge199cbc" class="figure">
|
||||
<p><img src="figs/act_damp_tomo_exp_comp_cps_trans.png" alt="act_damp_tomo_exp_comp_cps_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 32: </span>CPS of the translation errors for applied Active Damping techniques (<a href="./figs/act_damp_tomo_exp_comp_cps_trans.png">png</a>, <a href="./figs/act_damp_tomo_exp_comp_cps_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org634790f" class="figure">
|
||||
<div id="org4b2375c" class="figure">
|
||||
<p><img src="figs/act_damp_tomo_exp_comp_cps_rot.png" alt="act_damp_tomo_exp_comp_cps_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 33: </span>CPS of the rotation errors for applied Active Damping techniques (<a href="./figs/act_damp_tomo_exp_comp_cps_rot.png">png</a>, <a href="./figs/act_damp_tomo_exp_comp_cps_rot.pdf">pdf</a>)</p>
|
||||
@ -1470,15 +1471,15 @@ han_win = hanning(ceil(length(En(<span class="org-type">:</span>, 1))<span class
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org952ed5d" class="outline-2">
|
||||
<h2 id="org952ed5d"><span class="section-number-2">6</span> Useful Functions</h2>
|
||||
<div id="outline-container-org5f0f434" class="outline-2">
|
||||
<h2 id="org5f0f434"><span class="section-number-2">6</span> Useful Functions</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
</div>
|
||||
<div id="outline-container-orga9b2a73" class="outline-3">
|
||||
<h3 id="orga9b2a73"><span class="section-number-3">6.1</span> prepareTomographyExperiment</h3>
|
||||
<div id="outline-container-org6ecc4dc" class="outline-3">
|
||||
<h3 id="org6ecc4dc"><span class="section-number-3">6.1</span> prepareTomographyExperiment</h3>
|
||||
<div class="outline-text-3" id="text-6-1">
|
||||
<p>
|
||||
<a id="org32c98de"></a>
|
||||
<a id="orgf80e6d6"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@ -1486,9 +1487,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdc8e362" class="outline-4">
|
||||
<h4 id="orgdc8e362">Function Description</h4>
|
||||
<div class="outline-text-4" id="text-orgdc8e362">
|
||||
<div id="outline-container-org435d4b8" class="outline-4">
|
||||
<h4 id="org435d4b8">Function Description</h4>
|
||||
<div class="outline-text-4" id="text-org435d4b8">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">prepareTomographyExperiment</span>(<span class="org-variable-name">args</span>)
|
||||
</pre>
|
||||
@ -1496,9 +1497,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2d80135" class="outline-4">
|
||||
<h4 id="org2d80135">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org2d80135">
|
||||
<div id="outline-container-org45dbf99" class="outline-4">
|
||||
<h4 id="org45dbf99">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org45dbf99">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
args.nass_actuator char {mustBeMember(args.nass_actuator,{<span class="org-string">'piezo'</span>, <span class="org-string">'lorentz'</span>})} = <span class="org-string">'piezo'</span>
|
||||
@ -1510,9 +1511,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org342966f" class="outline-4">
|
||||
<h4 id="org342966f">Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-org342966f">
|
||||
<div id="outline-container-org80d47ea" class="outline-4">
|
||||
<h4 id="org80d47ea">Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-org80d47ea">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
</p>
|
||||
@ -1566,7 +1567,7 @@ save(<span class="org-string">'./mat/controllers.mat'</span>, <span class="org-s
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-01-20 lun. 17:36</p>
|
||||
<p class="date">Created: 2020-01-20 lun. 17:40</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -1977,7 +1977,7 @@ Inertial Control:
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:sensitivity_comp_ground_motion_z
|
||||
#+CAPTION: caption ([[./figs/sensitivity_comp_ground_motion_z.png][png]], [[./figs/sensitivity_comp_ground_motion_z.pdf][pdf]])
|
||||
#+CAPTION: Sensitivity to ground motion in the Z direction on the Z motion error ([[./figs/sensitivity_comp_ground_motion_z.png][png]], [[./figs/sensitivity_comp_ground_motion_z.pdf][pdf]])
|
||||
[[file:figs/sensitivity_comp_ground_motion_z.png]]
|
||||
|
||||
|
||||
@ -2002,7 +2002,7 @@ Inertial Control:
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:sensitivity_comp_direct_forces_z
|
||||
#+CAPTION: caption ([[./figs/sensitivity_comp_direct_forces_z.png][png]], [[./figs/sensitivity_comp_direct_forces_z.pdf][pdf]])
|
||||
#+CAPTION: Compliance in the Z direction: Sensitivity of direct forces applied on the sample in the Z direction on the Z motion error ([[./figs/sensitivity_comp_direct_forces_z.png][png]], [[./figs/sensitivity_comp_direct_forces_z.pdf][pdf]])
|
||||
[[file:figs/sensitivity_comp_direct_forces_z.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
@ -2026,7 +2026,7 @@ Inertial Control:
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:sensitivity_comp_spindle_z
|
||||
#+CAPTION: caption ([[./figs/sensitivity_comp_spindle_z.png][png]], [[./figs/sensitivity_comp_spindle_z.pdf][pdf]])
|
||||
#+CAPTION: Sensitivity to forces applied in the Z direction by the Spindle on the Z motion error ([[./figs/sensitivity_comp_spindle_z.png][png]], [[./figs/sensitivity_comp_spindle_z.pdf][pdf]])
|
||||
[[file:figs/sensitivity_comp_spindle_z.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
@ -2050,7 +2050,7 @@ Inertial Control:
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:sensitivity_comp_ty_z
|
||||
#+CAPTION: caption ([[./figs/sensitivity_comp_ty_z.png][png]], [[./figs/sensitivity_comp_ty_z.pdf][pdf]])
|
||||
#+CAPTION: Sensitivity to forces applied in the Z direction by the Y translation stage on the Z motion error ([[./figs/sensitivity_comp_ty_z.png][png]], [[./figs/sensitivity_comp_ty_z.pdf][pdf]])
|
||||
[[file:figs/sensitivity_comp_ty_z.png]]
|
||||
|
||||
|
||||
@ -2075,7 +2075,7 @@ Inertial Control:
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:sensitivity_comp_ty_x
|
||||
#+CAPTION: caption ([[./figs/sensitivity_comp_ty_x.png][png]], [[./figs/sensitivity_comp_ty_x.pdf][pdf]])
|
||||
#+CAPTION: Sensitivity to forces applied in the X direction by the Y translation stage on the X motion error ([[./figs/sensitivity_comp_ty_x.png][png]], [[./figs/sensitivity_comp_ty_x.pdf][pdf]])
|
||||
[[file:figs/sensitivity_comp_ty_x.png]]
|
||||
|
||||
** Damped Plant
|
||||
@ -2198,6 +2198,7 @@ Inertial Control:
|
||||
#+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]]
|
||||
|
||||
** Tomography Experiment
|
||||
*** Load the Simulation Data
|
||||
#+begin_src matlab
|
||||
|
||||
Loading…
Reference in New Issue
Block a user