From 8ae5b526d46f2f5a2f85baeaac16c17e2b1c2607 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 29 Oct 2019 11:07:14 +0100 Subject: [PATCH] Add small schematic of cedrat actuator --- cedrat-actuator/index.html | 61 +++++++++++++++++++++---------------- cedrat-actuator/index.org | 31 +++++++++++++++++-- figs/cedrat_geometry.png | Bin 0 -> 4867 bytes 3 files changed, 63 insertions(+), 29 deletions(-) create mode 100644 figs/cedrat_geometry.png diff --git a/cedrat-actuator/index.html b/cedrat-actuator/index.html index b3ceb5d..29c856d 100644 --- a/cedrat-actuator/index.html +++ b/cedrat-actuator/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Cedrat Actuator @@ -280,33 +280,40 @@ for the JavaScript code in this tag.

Table of Contents

-
-

1 Documentation

+
+

1 Documentation

  • Blocked force: \(1400\ N\)
  • Stiffness: \(10.8\ N/\mu m\)
  • Resonance (free-free): \(6450\ Hz\)
  • Resonance (blocked-free): \(1750\ Hz\)
    • -
  • Height: \(45\ mm\)
    • -
  • Length: \(80\ mm\)
    • +
  • Height: \(H = 45\ mm\)
    • +
  • Length: \(L = 80\ mm\)
  • Width: \(22\ mm\)
  • Mass: \(160\ g\)
+ + +
+

cedrat_geometry.png +

+
-
-

2 Parameters

+ +
+

2 Parameters

cedrat.L = 80; % Total Width of the Actuator[mm]
@@ -343,8 +350,8 @@ dummy_mass = 1; 
-
3 Identification

+

+
3 Identification

 

 

 
%% Options for Linearized
@@ -369,22 +376,22 @@ G.OutputName = {
 
 
-

+

 
cedrat_piezo_identified_tf.png
 

-
Figure 1: Identified Transfer function (png, pdf)

+
Figure 2: Identified Transfer function (png, pdf)

 

 

 

 
-

-
4 Integral Force Feedback

+

+
4 Integral Force Feedback

 

 
-

+

 
iff_plant_cedrat.png
 

-
Figure 2: Transfer function from \(F\) to \(F_m\) (png, pdf)

+
Figure 3: Transfer function from \(F\) to \(F_m\) (png, pdf)

 

 
 
@@ -394,16 +401,16 @@ G.OutputName = {
 
 
-

+

 
iff_open_loop_cedrat.png
 

-
Figure 3: Open Loop Gain Transfer Function - Cedrat (png, pdf)

+
Figure 4: Open Loop Gain Transfer Function - Cedrat (png, pdf)

 

 

 

 
-

-
5 Damped System

+

+
5 Damped System

 

 

 
%% Options for Linearized
@@ -428,17 +435,17 @@ G_iff.OutputName = {
 
 
-

+

 
cedrat_iff_piezo_identified_tf.png
 

-
Figure 4: Identified Transfer function (png, pdf)

+
Figure 5: Identified Transfer function (png, pdf)

 

 

 

 

 

 
Author: Dehaeze Thomas

-
Created: 2019-10-29 mar. 10:51

+
Created: 2019-10-29 mar. 11:06

 
Validate

 

 
diff --git a/cedrat-actuator/index.org b/cedrat-actuator/index.org
index f7c42c3..fa9129c 100644
--- a/cedrat-actuator/index.org
+++ b/cedrat-actuator/index.org
@@ -46,11 +46,38 @@
 - Stiffness: $10.8\ N/\mu m$
 - Resonance (free-free): $6450\ Hz$
 - Resonance (blocked-free): $1750\ Hz$
-- Height: $45\ mm$
-- Length: $80\ mm$
+- Height: $H = 45\ mm$
+- Length: $L = 80\ mm$
 - Width: $22\ mm$
 - Mass: $160\ g$
 
+#+begin_src latex :file cedrat_geometry.pdf :post pdf2svg(file=*this*, ext="png") :exports results
+  \begin{tikzpicture}
+    \node[branch] (O) at ( 0, 0){};
+    \node[branch] (A) at (-3, 1.5){};
+    \node[branch] (C) at ( 0, 1.5){};
+    \node[branch] (B) at ( 3, 1.5){};
+    \node[branch] (T) at ( 0, 3){};
+
+    \draw[] (O) -- (A);
+    \draw[] (O) -- node[midway, below]{$L_2$} (B);
+    \draw[] (A) -- (C);
+    \draw[] (C) -- (B);
+    \draw[] (A) -- (T);
+    \draw[] (B) -- (T);
+
+    \draw[dashed] (O) -- (T);
+    \draw[dashed] (0, 0.5) arc (90:26:0.5) node[midway, above]{$\alpha$};
+
+    \draw[dashed, <->] ($(O) + (3.5,  0)$) -- node[right]{$H$} ($(T) + (3.5, 0)$);
+    \draw[dashed, <->] ($(A) + (0, -2)$) -- node[below]{$L$} ($(B) + (0, -2)$);
+  \end{tikzpicture}
+#+end_src
+
+#+RESULTS:
+[[file:figs/cedrat_geometry.png]]
+
+
 * Matlab Init                                               :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
   <>
diff --git a/figs/cedrat_geometry.png b/figs/cedrat_geometry.png
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