tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add small schematic of cedrat actuator

Browse Source
This commit is contained in:
Thomas Dehaeze 2019-10-29 11:07:14 +01:00
parent 7682fc64a3
commit 8ae5b526d4
3 changed files with 63 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

61
cedrat-actuator/index.html
View File

@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2019-10-29 mar. 10:51 --> <!-- 2019-10-29 mar. 11:06 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" /> <meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Cedrat Actuator</title> <title>Cedrat Actuator</title>
@ -280,33 +280,40 @@ for the JavaScript code in this tag.
<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="#org001e432">1. Documentation</a></li> <li><a href="#orgd28b4dd">1. Documentation</a></li>
<li><a href="#orgc953781">2. Parameters</a></li> <li><a href="#org2594c75">2. Parameters</a></li>
<li><a href="#org168aa38">3. Identification</a></li> <li><a href="#org5b8504e">3. Identification</a></li>
<li><a href="#org0681d7e">4. Integral Force Feedback</a></li> <li><a href="#org919f71c">4. Integral Force Feedback</a></li>
<li><a href="#org364fbd0">5. Damped System</a></li> <li><a href="#org7ec0c4b">5. Damped System</a></li>
</ul> </ul>
</div> </div>
</div> </div>
<div id="outline-container-org001e432" class="outline-2"> <div id="outline-container-orgd28b4dd" class="outline-2">
<h2 id="org001e432"><span class="section-number-2">1</span> Documentation</h2> <h2 id="orgd28b4dd"><span class="section-number-2">1</span> Documentation</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
<ul class="org-ul"> <ul class="org-ul">
<li>Blocked force: \(1400\ N\)</li> <li>Blocked force: \(1400\ N\)</li>
<li>Stiffness: \(10.8\ N/\mu m\)</li> <li>Stiffness: \(10.8\ N/\mu m\)</li>
<li>Resonance (free-free): \(6450\ Hz\)</li> <li>Resonance (free-free): \(6450\ Hz\)</li>
<li>Resonance (blocked-free): \(1750\ Hz\)</li> <li>Resonance (blocked-free): \(1750\ Hz\)</li>
<li>Height: \(45\ mm\)</li> <li>Height: \(H = 45\ mm\)</li>
<li>Length: \(80\ mm\)</li> <li>Length: \(L = 80\ mm\)</li>
<li>Width: \(22\ mm\)</li> <li>Width: \(22\ mm\)</li>
<li>Mass: \(160\ g\)</li> <li>Mass: \(160\ g\)</li>
</ul> </ul>
<div class="figure">
<p><img src="figs/cedrat_geometry.png" alt="cedrat_geometry.png" />
</p>
</div>
</div> </div>
</div> </div>
<div id="outline-container-orgc953781" class="outline-2">
<h2 id="orgc953781"><span class="section-number-2">2</span> Parameters</h2> <div id="outline-container-org2594c75" class="outline-2">
<h2 id="org2594c75"><span class="section-number-2">2</span> Parameters</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">cedrat.L = <span class="org-highlight-numbers-number">80</span>; <span class="org-comment">% Total Width of the Actuator[mm]</span> <pre class="src src-matlab">cedrat.L = <span class="org-highlight-numbers-number">80</span>; <span class="org-comment">% Total Width of the Actuator[mm]</span>
@ -343,8 +350,8 @@ dummy_mass = <span class="org-highlight-numbers-number">1</span>; <span class="o
</div> </div>
</div> </div>
<div id="outline-container-org168aa38" class="outline-2"> <div id="outline-container-org5b8504e" class="outline-2">
<h2 id="org168aa38"><span class="section-number-2">3</span> Identification</h2> <h2 id="org5b8504e"><span class="section-number-2">3</span> Identification</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-3">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span> <pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
@ -369,22 +376,22 @@ G.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class=
</div> </div>
<div id="org829aed3" class="figure"> <div id="org6ebf8c8" class="figure">
<p><img src="figs/cedrat_piezo_identified_tf.png" alt="cedrat_piezo_identified_tf.png" /> <p><img src="figs/cedrat_piezo_identified_tf.png" alt="cedrat_piezo_identified_tf.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Identified Transfer function (<a href="./figs/cedrat_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_piezo_identified_tf.pdf">pdf</a>)</p> <p><span class="figure-number">Figure 2: </span>Identified Transfer function (<a href="./figs/cedrat_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_piezo_identified_tf.pdf">pdf</a>)</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org0681d7e" class="outline-2"> <div id="outline-container-org919f71c" class="outline-2">
<h2 id="org0681d7e"><span class="section-number-2">4</span> Integral Force Feedback</h2> <h2 id="org919f71c"><span class="section-number-2">4</span> Integral Force Feedback</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
<div id="orgf87cbd6" class="figure"> <div id="org964c2d0" class="figure">
<p><img src="figs/iff_plant_cedrat.png" alt="iff_plant_cedrat.png" /> <p><img src="figs/iff_plant_cedrat.png" alt="iff_plant_cedrat.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Transfer function from \(F\) to \(F_m\) (<a href="./figs/iff_plant_cedrat.png">png</a>, <a href="./figs/iff_plant_cedrat.pdf">pdf</a>)</p> <p><span class="figure-number">Figure 3: </span>Transfer function from \(F\) to \(F_m\) (<a href="./figs/iff_plant_cedrat.png">png</a>, <a href="./figs/iff_plant_cedrat.pdf">pdf</a>)</p>
</div> </div>
@ -394,16 +401,16 @@ G.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class=
</div> </div>
<div id="org97388b4" class="figure"> <div id="org090ce7f" class="figure">
<p><img src="figs/iff_open_loop_cedrat.png" alt="iff_open_loop_cedrat.png" /> <p><img src="figs/iff_open_loop_cedrat.png" alt="iff_open_loop_cedrat.png" />
</p> </p>
<p><span class="figure-number">Figure 3: </span>Open Loop Gain Transfer Function - Cedrat (<a href="./figs/iff_open_loop_cedrat.png">png</a>, <a href="./figs/iff_open_loop_cedrat.pdf">pdf</a>)</p> <p><span class="figure-number">Figure 4: </span>Open Loop Gain Transfer Function - Cedrat (<a href="./figs/iff_open_loop_cedrat.png">png</a>, <a href="./figs/iff_open_loop_cedrat.pdf">pdf</a>)</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org364fbd0" class="outline-2"> <div id="outline-container-org7ec0c4b" class="outline-2">
<h2 id="org364fbd0"><span class="section-number-2">5</span> Damped System</h2> <h2 id="org7ec0c4b"><span class="section-number-2">5</span> Damped System</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span> <pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
@ -428,17 +435,17 @@ G_iff.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span cl
</div> </div>
<div id="orgd56e05f" class="figure"> <div id="org2e7eff5" class="figure">
<p><img src="figs/cedrat_iff_piezo_identified_tf.png" alt="cedrat_iff_piezo_identified_tf.png" /> <p><img src="figs/cedrat_iff_piezo_identified_tf.png" alt="cedrat_iff_piezo_identified_tf.png" />
</p> </p>
<p><span class="figure-number">Figure 4: </span>Identified Transfer function (<a href="./figs/cedrat_iff_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_iff_piezo_identified_tf.pdf">pdf</a>)</p> <p><span class="figure-number">Figure 5: </span>Identified Transfer function (<a href="./figs/cedrat_iff_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_iff_piezo_identified_tf.pdf">pdf</a>)</p>
</div> </div>
</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: 2019-10-29 mar. 10:51</p> <p class="date">Created: 2019-10-29 mar. 11:06</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p> <p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div> </div>
</body> </body>

31
cedrat-actuator/index.org
View File

@ -46,11 +46,38 @@
- Stiffness: $10.8\ N/\mu m$ - Stiffness: $10.8\ N/\mu m$
- Resonance (free-free): $6450\ Hz$ - Resonance (free-free): $6450\ Hz$
- Resonance (blocked-free): $1750\ Hz$ - Resonance (blocked-free): $1750\ Hz$
- Height: $45\ mm$ - Height: $H = 45\ mm$
- Length: $80\ mm$ - Length: $L = 80\ mm$
- Width: $22\ mm$ - Width: $22\ mm$
- Mass: $160\ g$ - 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: * Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>> <<matlab-dir>>

BIN
figs/cedrat_geometry.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 4.8 KiB