From 945741a7952dcea07f53aa1dfd7436f325ea8e4c Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze
Date: Wed, 20 May 2020 16:04:05 +0200
Subject: [PATCH] [WIP] add amplified piezo for the nano-hexapod
---
docs/centrifugal_forces.html | 17 +-
.../figs/opt_stiffness_payload_freq_fz_dz.pdf | Bin 142646 -> 125470 bytes
.../figs/opt_stiffness_payload_freq_fz_dz.png | Bin 184103 -> 149210 bytes
.../figs/opt_stiffness_payload_mass_fz_dz.pdf | Bin 145826 -> 142050 bytes
.../figs/opt_stiffness_payload_mass_fz_dz.png | Bin 186128 -> 153163 bytes
docs/optimal_stiffness_control.html | 61 ++-
docs/stewart_platform.html | 457 +++++++++---------
docs/uncertainty_optimal_stiffness.html | 21 +-
mat/conf_log.mat | Bin 223 -> 223 bytes
mat/conf_simscape.mat | Bin 207 -> 207 bytes
mat/controller.mat | Bin 232 -> 232 bytes
mat/nass_disturbances.mat | Bin 50897 -> 50897 bytes
mat/nass_references.mat | Bin 1471275 -> 1472462 bytes
mat/stages.mat | Bin 7881 -> 7881 bytes
matlab/nano_hexapod_strut.slx | Bin 55620 -> 58196 bytes
matlab/nass_model.slx | Bin 318377 -> 318455 bytes
org/amplified_piezoelectric_stack.org | 18 +
org/optimal_stiffness_control.org | 8 +-
org/simscape_subsystems.org | 8 +-
org/uncertainty_optimal_stiffness.org | 33 +-
src/initializeStrutDynamics.m | 2 +-
21 files changed, 324 insertions(+), 301 deletions(-)
diff --git a/docs/centrifugal_forces.html b/docs/centrifugal_forces.html
index f1ad876..7b55930 100644
--- a/docs/centrifugal_forces.html
+++ b/docs/centrifugal_forces.html
@@ -1,11 +1,10 @@
-
-
+
Centrifugal Forces
@@ -98,7 +97,7 @@ w_heavy = 2*pi/60; % rotational speed [rad/s]
Finally, we consider a mass eccentricity of \(10\,mm\).
-
R = 0.1; % Excentricity [m]
+R = 0.01; % Excentricity [m]
@@ -128,12 +127,12 @@ From the formula \(F_c = m \omega^2 r\), we obtain the values shown below.
light |
-63.2 |
+6.32 |
heavy |
-0.1 |
+0.01 |
@@ -164,13 +163,13 @@ We plot the maximum rotation speed as a function of the mass for different maxim
-From a specified maximum allowed centrifugal force (here set to \(100\,[N]\)), the maximum rotation speed as a function of the sample’s mass is shown in Figure 3.
+From a specified maximum allowed centrifugal force (here set to \(10\,[N]\)), the maximum rotation speed as a function of the sample’s mass is shown in Figure 3.
-
F_max = 100; % Maximum accepted centrifugal forces [N]
+F_max = 10; % Maximum accepted centrifugal forces [N]
-R = 0.1;
+R = 0.01;
M_sample = 0:1:100;
M_reflector = 15;
@@ -188,7 +187,7 @@ M_reflector = 15;
Author: Dehaeze Thomas
-
Created: 2020-05-05 mar. 10:34
+
Created: 2020-05-07 jeu. 14:05
diff --git a/docs/figs/opt_stiffness_payload_freq_fz_dz.pdf b/docs/figs/opt_stiffness_payload_freq_fz_dz.pdf
index 54820b81598e84d7933f6c8f8043ced17e6ee464..0b77983e3ee526fc396e39c0ff161768ca90711b 100644
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