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Thomas Dehaeze
2020-03-26 17:25:43 +01:00
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@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-03-20 ven. 16:35 -->
<!-- 2020-03-26 jeu. 17:25 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Control in the Frame of the Legs applied on the Simscape Model</title>
@@ -202,28 +202,50 @@
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="./js/readtheorg.js"></script>
<script type="text/javascript">
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@@ -249,26 +271,26 @@
<ul>
<li><a href="#org1f22cdb">1. Decentralized Control</a>
<ul>
<li><a href="#orgf7b3c37">1.1. Control Schematic</a></li>
<li><a href="#org15ed002">1.2. Initialize the Simscape Model</a></li>
<li><a href="#orgcd58f5e">1.1. Control Schematic</a></li>
<li><a href="#org4318f13">1.2. Initialize the Simscape Model</a></li>
<li><a href="#org42afc36">1.3. Identification of the plant</a></li>
<li><a href="#org871560e">1.4. Plant Analysis</a></li>
<li><a href="#orgb0aa319">1.5. Controller Design</a></li>
<li><a href="#org564e3b0">1.6. Simulation</a></li>
<li><a href="#org0f36edb">1.7. Results</a></li>
<li><a href="#orgdf3c9aa">1.5. Controller Design</a></li>
<li><a href="#org753f2c4">1.6. Simulation</a></li>
<li><a href="#orgd8c14ee">1.7. Results</a></li>
</ul>
</li>
<li><a href="#orgfa4be92">2. HAC-LAC (IFF) Decentralized Control</a>
<ul>
<li><a href="#orgcd58f5e">2.1. Control Schematic</a></li>
<li><a href="#org4318f13">2.2. Initialize the Simscape Model</a></li>
<li><a href="#org744f1a3">2.1. Control Schematic</a></li>
<li><a href="#org0e6472e">2.2. Initialize the Simscape Model</a></li>
<li><a href="#org0903106">2.3. Initialization</a></li>
<li><a href="#orge739f61">2.4. Identification for IFF</a></li>
<li><a href="#org08b6a99">2.5. Integral Force Feedback Controller</a></li>
<li><a href="#org06b5c75">2.6. Identification of the damped plant</a></li>
<li><a href="#orgdf3c9aa">2.7. Controller Design</a></li>
<li><a href="#org753f2c4">2.8. Simulation</a></li>
<li><a href="#orgd8c14ee">2.9. Results</a></li>
<li><a href="#orgf258d8b">2.7. Controller Design</a></li>
<li><a href="#org5f74b9e">2.8. Simulation</a></li>
<li><a href="#org42ecd75">2.9. Results</a></li>
</ul>
</li>
<li><a href="#org21a9294">3. Conclusion</a></li>
@@ -284,11 +306,11 @@ In this document, we apply some decentralized control to the NASS and see what l
<h2 id="org1f22cdb"><span class="section-number-2">1</span> Decentralized Control</h2>
<div class="outline-text-2" id="text-1">
</div>
<div id="outline-container-orgf7b3c37" class="outline-3">
<h3 id="orgf7b3c37"><span class="section-number-3">1.1</span> Control Schematic</h3>
<div id="outline-container-orgcd58f5e" class="outline-3">
<h3 id="orgcd58f5e"><span class="section-number-3">1.1</span> Control Schematic</h3>
<div class="outline-text-3" id="text-1-1">
<p>
The control architecture is shown in Figure <a href="#org7503773">1</a>.
The control architecture is shown in Figure <a href="#org5b991df">1</a>.
</p>
<p>
@@ -304,7 +326,7 @@ The signals are:
</ul>
<div id="org7503773" class="figure">
<div id="org5b991df" class="figure">
<p><img src="figs/decentralized_reference_tracking_L.png" alt="decentralized_reference_tracking_L.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Decentralized control for reference tracking</p>
@@ -312,8 +334,8 @@ The signals are:
</div>
</div>
<div id="outline-container-org15ed002" class="outline-3">
<h3 id="org15ed002"><span class="section-number-3">1.2</span> Initialize the Simscape Model</h3>
<div id="outline-container-org4318f13" class="outline-3">
<h3 id="org4318f13"><span class="section-number-3">1.2</span> Initialize the Simscape Model</h3>
<div class="outline-text-3" id="text-1-2">
<p>
We initialize all the stages with the default parameters.
@@ -427,8 +449,8 @@ We can see that:
</div>
</div>
<div id="outline-container-orgb0aa319" class="outline-3">
<h3 id="orgb0aa319"><span class="section-number-3">1.5</span> Controller Design</h3>
<div id="outline-container-orgdf3c9aa" class="outline-3">
<h3 id="orgdf3c9aa"><span class="section-number-3">1.5</span> Controller Design</h3>
<div class="outline-text-3" id="text-1-5">
<p>
The controller consists of:
@@ -474,8 +496,8 @@ We add a minus sign to the controller as it is not included in the Simscape mode
</div>
</div>
<div id="outline-container-org564e3b0" class="outline-3">
<h3 id="org564e3b0"><span class="section-number-3">1.6</span> Simulation</h3>
<div id="outline-container-org753f2c4" class="outline-3">
<h3 id="org753f2c4"><span class="section-number-3">1.6</span> Simulation</h3>
<div class="outline-text-3" id="text-1-6">
<div class="org-src-container">
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'ref-track-L'</span>);
@@ -501,8 +523,8 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-org0f36edb" class="outline-3">
<h3 id="org0f36edb"><span class="section-number-3">1.7</span> Results</h3>
<div id="outline-container-orgd8c14ee" class="outline-3">
<h3 id="orgd8c14ee"><span class="section-number-3">1.7</span> Results</h3>
<div class="outline-text-3" id="text-1-7">
<p>
The reference path and the position of the mobile platform are shown in Figure <a href="#org247b3a0">4</a>.
@@ -532,11 +554,11 @@ We here add an Active Damping Loop (Integral Force Feedback) prior to using the
</p>
</div>
<div id="outline-container-orgcd58f5e" class="outline-3">
<h3 id="orgcd58f5e"><span class="section-number-3">2.1</span> Control Schematic</h3>
<div id="outline-container-org744f1a3" class="outline-3">
<h3 id="org744f1a3"><span class="section-number-3">2.1</span> Control Schematic</h3>
<div class="outline-text-3" id="text-2-1">
<p>
The control architecture is shown in Figure <a href="#org7503773">1</a>.
The control architecture is shown in Figure <a href="#org5b991df">1</a>.
</p>
<p>
@@ -552,7 +574,7 @@ The signals are:
</ul>
<div id="org5b991df" class="figure">
<div id="orgda1b906" class="figure">
<p><img src="figs/decentralized_reference_tracking_L.png" alt="decentralized_reference_tracking_L.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Decentralized control for reference tracking</p>
@@ -560,8 +582,8 @@ The signals are:
</div>
</div>
<div id="outline-container-org4318f13" class="outline-3">
<h3 id="org4318f13"><span class="section-number-3">2.2</span> Initialize the Simscape Model</h3>
<div id="outline-container-org0e6472e" class="outline-3">
<h3 id="org0e6472e"><span class="section-number-3">2.2</span> Initialize the Simscape Model</h3>
<div class="outline-text-3" id="text-2-2">
<p>
We initialize all the stages with the default parameters.
@@ -697,8 +719,8 @@ Gd.OutputName = {<span class="org-string">'El1'</span>, <span class="org-string"
</div>
</div>
<div id="outline-container-orgdf3c9aa" class="outline-3">
<h3 id="orgdf3c9aa"><span class="section-number-3">2.7</span> Controller Design</h3>
<div id="outline-container-orgf258d8b" class="outline-3">
<h3 id="orgf258d8b"><span class="section-number-3">2.7</span> Controller Design</h3>
<div class="outline-text-3" id="text-2-7">
<div class="org-src-container">
<pre class="src src-matlab">wc = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>300;
@@ -726,8 +748,8 @@ Kl = diag(1<span class="org-type">./</span>diag(abs(freqresp(Gd, wc)))) <span cl
</div>
<div id="outline-container-org753f2c4" class="outline-3">
<h3 id="org753f2c4"><span class="section-number-3">2.8</span> Simulation</h3>
<div id="outline-container-org5f74b9e" class="outline-3">
<h3 id="org5f74b9e"><span class="section-number-3">2.8</span> Simulation</h3>
<div class="outline-text-3" id="text-2-8">
<div class="org-src-container">
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'ref-track-iff-L'</span>);
@@ -753,8 +775,8 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-orgd8c14ee" class="outline-3">
<h3 id="orgd8c14ee"><span class="section-number-3">2.9</span> Results</h3>
<div id="outline-container-org42ecd75" class="outline-3">
<h3 id="org42ecd75"><span class="section-number-3">2.9</span> Results</h3>
</div>
</div>
<div id="outline-container-org21a9294" class="outline-2">
@@ -763,7 +785,7 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-20 ven. 16:35</p>
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
</div>
</body>
</html>