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Thomas Dehaeze
2020-03-26 17:25:43 +01:00
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<!-- 2020-03-20 ven. 18:52 -->
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<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Control of the Nano-Active-Stabilization-System</title>
@@ -202,28 +202,50 @@
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<script type="text/javascript" src="./js/readtheorg.js"></script>
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@@ -248,33 +270,32 @@
<div id="text-table-of-contents">
<ul>
<li><a href="#org15699e9">1. Control Configuration - Introduction</a></li>
<li><a href="#orgfb6ef96">2. Tracking Control - Basic Architectures</a>
<li><a href="#org2be3166">2. Tracking Control in the Frame of the Nano-Hexapod - Basic Architectures</a>
<ul>
<li><a href="#org970ab39">2.1. Control in the frame of the Legs</a></li>
<li><a href="#org82193fb">2.2. Control in the Cartesian frame</a></li>
</ul>
</li>
<li><a href="#orgbfd345b">3. Active Damping Architecture - Collocated Control</a>
<li><a href="#org7d7b7f4">3. Active Damping Architecture - Collocated Control (link)</a>
<ul>
<li><a href="#org3546873">3.1. Integral Force Feedback</a></li>
<li><a href="#org722b371">3.2. Direct Relative Velocity Feedback</a></li>
</ul>
</li>
<li><a href="#orgaee8981">4. HAC-LAC Architectures</a>
<li><a href="#orgca70c79">4. HAC-LAC Architectures (link)</a>
<ul>
<li><a href="#orgd9c84f0">4.1. HAC-LAC using IFF and Tracking control in the frame of the Legs</a></li>
<li><a href="#orgeb80da1">4.2. HAC-LAC using IFF and Tracking control in the Cartesian frame</a></li>
<li><a href="#org6054c1a">4.3. HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite</a></li>
</ul>
</li>
<li><a href="#org1b20de0">5. Cascade Architectures</a>
<li><a href="#orgab73896">5. Cascade Architectures (link)</a>
<ul>
<li><a href="#org3e5154f">5.1. Cascade Control with HAC-LAC Inner Loop and Primary Controller in the task space</a></li>
<li><a href="#org4353aca">5.2. Cascade Control with HAC-LAC Inner Loop and Primary Controller in the joint space</a></li>
</ul>
</li>
<li><a href="#org49649c2">6. Sensor Fusion Architectures</a></li>
<li><a href="#org8b94438">7. \(\mathcal{H}_\infty\) Architectures</a></li>
<li><a href="#org7311546">8. Force Control</a></li>
<li><a href="#org4ac6d11">6. Force Control (link)</a></li>
</ul>
</div>
</div>
@@ -367,8 +388,8 @@ The use of decentralized controllers is proposed in Section <a href="#orga038762
</div>
</div>
<div id="outline-container-orgfb6ef96" class="outline-2">
<h2 id="orgfb6ef96"><span class="section-number-2">2</span> Tracking Control - Basic Architectures</h2>
<div id="outline-container-org2be3166" class="outline-2">
<h2 id="org2be3166"><span class="section-number-2">2</span> Tracking Control in the Frame of the Nano-Hexapod - Basic Architectures</h2>
<div class="outline-text-2" id="text-2">
<p>
<a id="org251e3c9"></a>
@@ -435,8 +456,8 @@ These forces are then converted to forces applied in each of the nano-hexapod&rs
</div>
</div>
<div id="outline-container-orgbfd345b" class="outline-2">
<h2 id="orgbfd345b"><span class="section-number-2">3</span> Active Damping Architecture - Collocated Control</h2>
<div id="outline-container-org7d7b7f4" class="outline-2">
<h2 id="org7d7b7f4"><span class="section-number-2">3</span> Active Damping Architecture - Collocated Control (<a href="control_active_damping.html">link</a>)</h2>
<div class="outline-text-2" id="text-3">
<p>
<a id="org1b3cc21"></a>
@@ -458,6 +479,10 @@ Two very well known active damping techniques are <b>Integral Force Feedback</b>
<p>
These two active damping techniques are collocated control techniques.
</p>
<p>
The active damping techniques are studied in <a href="control_active_damping.html">this</a> document.
</p>
</div>
<div id="outline-container-org3546873" class="outline-3">
<h3 id="org3546873"><span class="section-number-3">3.1</span> Integral Force Feedback</h3>
@@ -525,8 +550,8 @@ Each diagonal element consists of:
</div>
</div>
<div id="outline-container-orgaee8981" class="outline-2">
<h2 id="orgaee8981"><span class="section-number-2">4</span> HAC-LAC Architectures</h2>
<div id="outline-container-orgca70c79" class="outline-2">
<h2 id="orgca70c79"><span class="section-number-2">4</span> HAC-LAC Architectures (<a href="control_hac_lac.html">link</a>)</h2>
<div class="outline-text-2" id="text-4">
<p>
<a id="org31fa800"></a>
@@ -594,22 +619,33 @@ Usually, the Low Authority Controller is first design, and then the High Authori
</div>
</div>
</div>
<div id="outline-container-org6054c1a" class="outline-3">
<h3 id="org6054c1a"><span class="section-number-3">4.3</span> HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite</h3>
<div class="outline-text-3" id="text-4-3">
<div class="figure">
<p><img src="figs/control_architecture_hac_iff_pos_X.png" alt="control_architecture_hac_iff_pos_X.png" />
</p>
</div>
</div>
</div>
</div>
<div id="outline-container-org1b20de0" class="outline-2">
<h2 id="org1b20de0"><span class="section-number-2">5</span> Cascade Architectures</h2>
<div id="outline-container-orgab73896" class="outline-2">
<h2 id="orgab73896"><span class="section-number-2">5</span> Cascade Architectures (<a href="control_cascade.html">link</a>)</h2>
<div class="outline-text-2" id="text-5">
<p>
<a id="orga038762"></a>
</p>
<p>
The principle of Cascade control is shown in Figure <a href="#org03ef231">11</a> and explained as follow:
The principle of Cascade control is shown in Figure <a href="#org03ef231">12</a> and explained as follow:
</p>
<blockquote>
<p>
To follow <b>two objectives</b> with different properties in one control system, usually a <b>hierarchy</b> of two feedback loops is used in practice.
This kind of control topology is called <b>cascade control</b>, which is used when there are <b>several measurements and one prime control variable</b>.
Cascade control is implemented by <b>nesting</b> the control loops, as shown in Figure <a href="#org03ef231">11</a>.
Cascade control is implemented by <b>nesting</b> the control loops, as shown in Figure <a href="#org03ef231">12</a>.
The output control loop is called the <b>primary loop</b>, while the inner loop is called the secondary loop and is used to fulfill a secondary objective in the closed-loop system. &#x2013; <a class='org-ref-reference' href="#taghirad13_paral">taghirad13_paral</a>
</p>
</blockquote>
@@ -618,7 +654,7 @@ The output control loop is called the <b>primary loop</b>, while the inner loop
<div id="org03ef231" class="figure">
<p><img src="figs/control_architecture_cascade_control.png" alt="control_architecture_cascade_control.png" />
</p>
<p><span class="figure-number">Figure 11: </span>Cascade Control Architecture</p>
<p><span class="figure-number">Figure 12: </span>Cascade Control Architecture</p>
</div>
<p>
@@ -643,7 +679,7 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
<div id="orgff7dfc6" class="figure">
<p><img src="figs/control_architecture_cascade_L.png" alt="control_architecture_cascade_L.png" />
</p>
<p><span class="figure-number">Figure 12: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the frame of the Legs</p>
<p><span class="figure-number">Figure 13: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the frame of the Legs</p>
</div>
</div>
</div>
@@ -655,34 +691,16 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
<div id="org4bc4c4c" class="figure">
<p><img src="figs/control_architecture_cascade_X.png" alt="control_architecture_cascade_X.png" />
</p>
<p><span class="figure-number">Figure 13: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the Cartesian Frame</p>
<p><span class="figure-number">Figure 14: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the Cartesian Frame</p>
</div>
</div>
</div>
</div>
<div id="outline-container-org49649c2" class="outline-2">
<h2 id="org49649c2"><span class="section-number-2">6</span> Sensor Fusion Architectures</h2>
<div id="outline-container-org4ac6d11" class="outline-2">
<h2 id="org4ac6d11"><span class="section-number-2">6</span> Force Control (<a href="control_force.html">link</a>)</h2>
<div class="outline-text-2" id="text-6">
<p>
<a id="org6e0650a"></a>
</p>
</div>
</div>
<div id="outline-container-org8b94438" class="outline-2">
<h2 id="org8b94438"><span class="section-number-2">7</span> \(\mathcal{H}_\infty\) Architectures</h2>
<div class="outline-text-2" id="text-7">
<p>
<a id="org0440352"></a>
</p>
</div>
</div>
<div id="outline-container-org7311546" class="outline-2">
<h2 id="org7311546"><span class="section-number-2">8</span> Force Control</h2>
<div class="outline-text-2" id="text-8">
<p>
Signals:
</p>
<ul class="org-ul">
@@ -698,6 +716,7 @@ Signals:
</div>
</div>
</div>
<p>
<h1 class='org-ref-bib-h1'>Bibliography</h1>
@@ -709,7 +728,7 @@ Signals:
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-20 ven. 18:52</p>
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
</div>
</body>
</html>