Add small schematic of cedrat actuator
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2019-10-29 mar. 10:51 -->
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<!-- 2019-10-29 mar. 11:06 -->
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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>Cedrat Actuator</title>
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@ -280,33 +280,40 @@ 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="#org001e432">1. Documentation</a></li>
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<li><a href="#orgc953781">2. Parameters</a></li>
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<li><a href="#org168aa38">3. Identification</a></li>
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<li><a href="#org0681d7e">4. Integral Force Feedback</a></li>
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<li><a href="#org364fbd0">5. Damped System</a></li>
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<li><a href="#orgd28b4dd">1. Documentation</a></li>
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<li><a href="#org2594c75">2. Parameters</a></li>
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<li><a href="#org5b8504e">3. Identification</a></li>
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<li><a href="#org919f71c">4. Integral Force Feedback</a></li>
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<li><a href="#org7ec0c4b">5. Damped System</a></li>
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</ul>
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</div>
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</div>
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<div id="outline-container-org001e432" class="outline-2">
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<h2 id="org001e432"><span class="section-number-2">1</span> Documentation</h2>
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<div id="outline-container-orgd28b4dd" class="outline-2">
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<h2 id="orgd28b4dd"><span class="section-number-2">1</span> Documentation</h2>
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<div class="outline-text-2" id="text-1">
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<ul class="org-ul">
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<li>Blocked force: \(1400\ N\)</li>
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<li>Stiffness: \(10.8\ N/\mu m\)</li>
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<li>Resonance (free-free): \(6450\ Hz\)</li>
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<li>Resonance (blocked-free): \(1750\ Hz\)</li>
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<li>Height: \(45\ mm\)</li>
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<li>Length: \(80\ mm\)</li>
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<li>Height: \(H = 45\ mm\)</li>
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<li>Length: \(L = 80\ mm\)</li>
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<li>Width: \(22\ mm\)</li>
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<li>Mass: \(160\ g\)</li>
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</ul>
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<div class="figure">
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<p><img src="figs/cedrat_geometry.png" alt="cedrat_geometry.png" />
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</p>
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</div>
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</div>
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</div>
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<div id="outline-container-orgc953781" class="outline-2">
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<h2 id="orgc953781"><span class="section-number-2">2</span> Parameters</h2>
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<div id="outline-container-org2594c75" class="outline-2">
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<h2 id="org2594c75"><span class="section-number-2">2</span> Parameters</h2>
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<div class="outline-text-2" id="text-2">
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<div class="org-src-container">
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<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>
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@ -343,8 +350,8 @@ dummy_mass = <span class="org-highlight-numbers-number">1</span>; <span class="o
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</div>
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</div>
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<div id="outline-container-org168aa38" class="outline-2">
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<h2 id="org168aa38"><span class="section-number-2">3</span> Identification</h2>
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<div id="outline-container-org5b8504e" class="outline-2">
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<h2 id="org5b8504e"><span class="section-number-2">3</span> Identification</h2>
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<div class="outline-text-2" id="text-3">
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
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@ -369,22 +376,22 @@ G.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class=
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</div>
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<div id="org829aed3" class="figure">
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<div id="org6ebf8c8" class="figure">
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<p><img src="figs/cedrat_piezo_identified_tf.png" alt="cedrat_piezo_identified_tf.png" />
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</p>
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<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>
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<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>
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</div>
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</div>
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</div>
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<div id="outline-container-org0681d7e" class="outline-2">
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<h2 id="org0681d7e"><span class="section-number-2">4</span> Integral Force Feedback</h2>
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<div id="outline-container-org919f71c" class="outline-2">
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<h2 id="org919f71c"><span class="section-number-2">4</span> Integral Force Feedback</h2>
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<div class="outline-text-2" id="text-4">
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<div id="orgf87cbd6" class="figure">
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<div id="org964c2d0" class="figure">
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<p><img src="figs/iff_plant_cedrat.png" alt="iff_plant_cedrat.png" />
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</p>
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<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>
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<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>
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</div>
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@ -394,16 +401,16 @@ G.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class=
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</div>
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<div id="org97388b4" class="figure">
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<div id="org090ce7f" class="figure">
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<p><img src="figs/iff_open_loop_cedrat.png" alt="iff_open_loop_cedrat.png" />
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</p>
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<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>
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<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>
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</div>
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</div>
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</div>
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<div id="outline-container-org364fbd0" class="outline-2">
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<h2 id="org364fbd0"><span class="section-number-2">5</span> Damped System</h2>
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<div id="outline-container-org7ec0c4b" class="outline-2">
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<h2 id="org7ec0c4b"><span class="section-number-2">5</span> Damped System</h2>
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<div class="outline-text-2" id="text-5">
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
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@ -428,17 +435,17 @@ G_iff.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span cl
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</div>
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<div id="orgd56e05f" class="figure">
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<div id="org2e7eff5" class="figure">
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<p><img src="figs/cedrat_iff_piezo_identified_tf.png" alt="cedrat_iff_piezo_identified_tf.png" />
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</p>
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<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>
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<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>
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</div>
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</div>
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</div>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2019-10-29 mar. 10:51</p>
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<p class="date">Created: 2019-10-29 mar. 11:06</p>
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<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
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</div>
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</body>
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@ -46,11 +46,38 @@
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- Stiffness: $10.8\ N/\mu m$
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- Resonance (free-free): $6450\ Hz$
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- Resonance (blocked-free): $1750\ Hz$
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- Height: $45\ mm$
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- Length: $80\ mm$
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- Height: $H = 45\ mm$
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- Length: $L = 80\ mm$
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- Width: $22\ mm$
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- Mass: $160\ g$
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#+begin_src latex :file cedrat_geometry.pdf :post pdf2svg(file=*this*, ext="png") :exports results
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\begin{tikzpicture}
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\node[branch] (O) at ( 0, 0){};
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\node[branch] (A) at (-3, 1.5){};
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\node[branch] (C) at ( 0, 1.5){};
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\node[branch] (B) at ( 3, 1.5){};
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\node[branch] (T) at ( 0, 3){};
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\draw[] (O) -- (A);
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\draw[] (O) -- node[midway, below]{$L_2$} (B);
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\draw[] (A) -- (C);
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\draw[] (C) -- (B);
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\draw[] (A) -- (T);
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\draw[] (B) -- (T);
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\draw[dashed] (O) -- (T);
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\draw[dashed] (0, 0.5) arc (90:26:0.5) node[midway, above]{$\alpha$};
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\draw[dashed, <->] ($(O) + (3.5, 0)$) -- node[right]{$H$} ($(T) + (3.5, 0)$);
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\draw[dashed, <->] ($(A) + (0, -2)$) -- node[below]{$L$} ($(B) + (0, -2)$);
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/cedrat_geometry.png]]
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* Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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BIN
figs/cedrat_geometry.png
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BIN
figs/cedrat_geometry.png
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Binary file not shown.
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After Width: | Height: | Size: 4.8 KiB |
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