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[WIP] add amplified piezo for the nano-hexapod

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Thomas Dehaeze
2020-05-20 16:04:05 +02:00
parent 04c2ee06dc
commit 945741a795
21 changed files with 324 additions and 301 deletions
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docs/optimal_stiffness_control.html
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<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-05-05 mar. 10:34 -->
<!-- 2020-05-20 mer. 15:49 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Control of the NASS with optimal stiffness</title>
<meta name="generator" content="Org mode" />
@@ -42,7 +41,7 @@
<li><a href="#orgfef1a3f">1.3. Controller Design</a></li>
<li><a href="#org3c73014">1.4. Effect of the Low Authority Control on the Primary Plant</a></li>
<li><a href="#orgee5dbee">1.5. Effect of the Low Authority Control on the Sensibility to Disturbances</a></li>
<li><a href="#org8c0882d">1.6. Conclusion</a></li>
<li><a href="#orgd9e52e3">1.6. Conclusion</a></li>
</ul>
</li>
<li><a href="#org81dc0a8">2. Primary Control in the leg space</a>
@@ -51,23 +50,23 @@
<li><a href="#orgf39520c">2.2. Control in the leg space</a></li>
<li><a href="#org16d192f">2.3. Sensibility to Disturbances and Noise Budget</a></li>
<li><a href="#org8f34c09">2.4. Simulations of Tomography Experiment</a></li>
<li><a href="#orgbeadec8">2.5. Results</a></li>
<li><a href="#org66b4613">2.5. Results</a></li>
<li><a href="#orgf709759">2.6. Actuator Stroke and Forces</a></li>
<li><a href="#orgb0f5db9">2.7. Conclusion</a></li>
<li><a href="#org3b6d331">2.7. Conclusion</a></li>
</ul>
</li>
<li><a href="#org56b28cd">3. Further More complex simulations</a>
<ul>
<li><a href="#org6c1ddb5">3.1. Simulation with Micro-Hexapod Offset</a>
<ul>
<li><a href="#org57e2cfd">3.1.1. Simulation</a></li>
<li><a href="#org2c93370">3.1.2. Results</a></li>
<li><a href="#orgcd1c705">3.1.1. Simulation</a></li>
<li><a href="#org3387265">3.1.2. Results</a></li>
</ul>
</li>
<li><a href="#org5cb899b">3.2. Simultaneous Translation scans and Spindle&rsquo;s rotation</a>
<ul>
<li><a href="#org6710f28">3.2.1. Simulation</a></li>
<li><a href="#org035df39">3.2.2. Results</a></li>
<li><a href="#org48f5ed8">3.2.1. Simulation</a></li>
<li><a href="#orgcc19864">3.2.2. Results</a></li>
</ul>
</li>
</ul>
@@ -80,8 +79,8 @@
<li><a href="#orgb28634b">4.2.1. Stability</a></li>
</ul>
</li>
<li><a href="#org9ea6a0a">4.3. Simulation</a></li>
<li><a href="#org21304f7">4.4. Conclusion</a></li>
<li><a href="#org78cec1a">4.3. Simulation</a></li>
<li><a href="#orgdc2eb5a">4.4. Conclusion</a></li>
</ul>
</li>
</ul>
@@ -325,8 +324,8 @@ Decentralized Direct Velocity Feedback is shown to increase the effect of stages
</div>
</div>
<div id="outline-container-org8c0882d" class="outline-3">
<h3 id="org8c0882d"><span class="section-number-3">1.6</span> Conclusion</h3>
<div id="outline-container-orgd9e52e3" class="outline-3">
<h3 id="orgd9e52e3"><span class="section-number-3">1.6</span> Conclusion</h3>
<div class="outline-text-3" id="text-1-6">
<div class="important">
<p>
@@ -513,8 +512,8 @@ And we run the simulation for all three payload Masses.
</p>
</div>
</div>
<div id="outline-container-orgbeadec8" class="outline-3">
<h3 id="orgbeadec8"><span class="section-number-3">2.5</span> Results</h3>
<div id="outline-container-org66b4613" class="outline-3">
<h3 id="org66b4613"><span class="section-number-3">2.5</span> Results</h3>
<div class="outline-text-3" id="text-2-5">
<p>
Let&rsquo;s now see how this controller performs.
@@ -573,8 +572,8 @@ Finally, the time domain position error signals are shown in Figure <a href="#or
</div>
</div>
<div id="outline-container-orgb0f5db9" class="outline-3">
<h3 id="orgb0f5db9"><span class="section-number-3">2.7</span> Conclusion</h3>
<div id="outline-container-org3b6d331" class="outline-3">
<h3 id="org3b6d331"><span class="section-number-3">2.7</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-7">
<div class="important">
<p>
@@ -594,8 +593,8 @@ Finally, the time domain position error signals are shown in Figure <a href="#or
<h3 id="org6c1ddb5"><span class="section-number-3">3.1</span> Simulation with Micro-Hexapod Offset</h3>
<div class="outline-text-3" id="text-3-1">
</div>
<div id="outline-container-org57e2cfd" class="outline-4">
<h4 id="org57e2cfd"><span class="section-number-4">3.1.1</span> Simulation</h4>
<div id="outline-container-orgcd1c705" class="outline-4">
<h4 id="orgcd1c705"><span class="section-number-4">3.1.1</span> Simulation</h4>
<div class="outline-text-4" id="text-3-1-1">
<p>
The micro-hexapod is inducing a 10mm offset of the sample center of mass with the rotation axis.
@@ -623,8 +622,8 @@ sim('nass_model');
</div>
</div>
<div id="outline-container-org2c93370" class="outline-4">
<h4 id="org2c93370"><span class="section-number-4">3.1.2</span> Results</h4>
<div id="outline-container-org3387265" class="outline-4">
<h4 id="org3387265"><span class="section-number-4">3.1.2</span> Results</h4>
<div class="outline-text-4" id="text-3-1-2">
<div id="org6be7e46" class="figure">
@@ -651,15 +650,15 @@ sim('nass_model');
<h3 id="org5cb899b"><span class="section-number-3">3.2</span> Simultaneous Translation scans and Spindle&rsquo;s rotation</h3>
<div class="outline-text-3" id="text-3-2">
</div>
<div id="outline-container-org6710f28" class="outline-4">
<h4 id="org6710f28"><span class="section-number-4">3.2.1</span> Simulation</h4>
<div id="outline-container-org48f5ed8" class="outline-4">
<h4 id="org48f5ed8"><span class="section-number-4">3.2.1</span> Simulation</h4>
<div class="outline-text-4" id="text-3-2-1">
<p>
A simulation is now performed with translation scans and spindle rotation at the same time.
</p>
<p>
The sample has a mass one 1kg, the spindle rotation speed is 60rpm and the translation scans have a period of 4s and a triangular shape.
The sample has a mass of 1kg, the spindle rotation speed is 60rpm and the translation scans have a period of 4s and a triangular shape.
</p>
<div class="org-src-container">
@@ -675,8 +674,8 @@ initializeReferences('Rz_type', 'rotating', 'Rz_period', 1, ...
</div>
</div>
<div id="outline-container-org035df39" class="outline-4">
<h4 id="org035df39"><span class="section-number-4">3.2.2</span> Results</h4>
<div id="outline-container-orgcc19864" class="outline-4">
<h4 id="orgcc19864"><span class="section-number-4">3.2.2</span> Results</h4>
<div class="outline-text-4" id="text-3-2-2">
<div id="orgbfa1d02" class="figure">
@@ -779,11 +778,11 @@ end
</div>
</div>
<div id="outline-container-org9ea6a0a" class="outline-3">
<h3 id="org9ea6a0a"><span class="section-number-3">4.3</span> Simulation</h3>
<div id="outline-container-org78cec1a" class="outline-3">
<h3 id="org78cec1a"><span class="section-number-3">4.3</span> Simulation</h3>
</div>
<div id="outline-container-org21304f7" class="outline-3">
<h3 id="org21304f7"><span class="section-number-3">4.4</span> Conclusion</h3>
<div id="outline-container-orgdc2eb5a" class="outline-3">
<h3 id="orgdc2eb5a"><span class="section-number-3">4.4</span> Conclusion</h3>
<div class="outline-text-3" id="text-4-4">
<div class="important">
<p>
@@ -797,7 +796,7 @@ end
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-05-05 mar. 10:34</p>
<p class="date">Created: 2020-05-20 mer. 15:49</p>
</div>
</body>
</html>