Add simulation of HAC-DVF with opt-stiffness
BIN
docs/figs/control_architecture_fixed_Krz.pdf
Normal file
BIN
docs/figs/control_architecture_fixed_Krz.png
Normal file
After Width: | Height: | Size: 16 KiB |
BIN
docs/figs/control_architecture_fixed_rz.pdf
Normal file
BIN
docs/figs/control_architecture_fixed_rz.png
Normal file
After Width: | Height: | Size: 8.1 KiB |
BIN
docs/figs/control_architecture_hac_dvf_pos_X.pdf
Normal file
BIN
docs/figs/control_architecture_hac_dvf_pos_X.png
Normal file
After Width: | Height: | Size: 16 KiB |
3445
docs/figs/opt_stiff_hac_dvf_L_cas_disp_error.pdf
Normal file
BIN
docs/figs/opt_stiff_hac_dvf_L_cas_disp_error.png
Normal file
After Width: | Height: | Size: 153 KiB |
BIN
docs/figs/opt_stiff_hac_dvf_L_pos_error.pdf
Normal file
BIN
docs/figs/opt_stiff_hac_dvf_L_pos_error.png
Normal file
After Width: | Height: | Size: 115 KiB |
BIN
docs/figs/opt_stiff_hac_dvf_L_psd_disp_error.pdf
Normal file
BIN
docs/figs/opt_stiff_hac_dvf_L_psd_disp_error.png
Normal file
After Width: | Height: | Size: 173 KiB |
Before Width: | Height: | Size: 125 KiB After Width: | Height: | Size: 124 KiB |
Before Width: | Height: | Size: 129 KiB After Width: | Height: | Size: 129 KiB |
Before Width: | Height: | Size: 129 KiB After Width: | Height: | Size: 127 KiB |
Before Width: | Height: | Size: 260 KiB After Width: | Height: | Size: 261 KiB |
Before Width: | Height: | Size: 122 KiB After Width: | Height: | Size: 117 KiB |
BIN
mat/conf_log.mat
@ -202,7 +202,7 @@ And we save the obtained data.
|
||||
In this section, we also perform a tomography experiment with the sample's center of mass aligned with the rotation axis.
|
||||
However this time, we include perturbations such as ground motion and stage vibrations.
|
||||
|
||||
** TODO Simulation Setup
|
||||
** Simulation Setup
|
||||
We now activate the disturbances.
|
||||
#+begin_src matlab
|
||||
initializeDisturbances(...
|
||||
|
@ -678,6 +678,11 @@ exportFig('figs/opt_stiff_sensibility_dist_dvf.pdf', 'width', 'full', 'height',
|
||||
#+RESULTS:
|
||||
[[file:figs/opt_stiff_sensibility_dist_dvf.png]]
|
||||
|
||||
** Conclusion
|
||||
#+begin_important
|
||||
|
||||
#+end_important
|
||||
|
||||
* Primary Control in the leg space
|
||||
<<sec:primary_control_L>>
|
||||
** Introduction :ignore:
|
||||
@ -691,7 +696,7 @@ In this section we implement the control architecture shown in Figure [[fig:cont
|
||||
|
||||
The controller for decentralized direct velocity feedback is the one designed in Section [[sec:lac_dvf]].
|
||||
|
||||
** Plant in the task space
|
||||
** Plant in the leg space
|
||||
We now loop at the transfer function matrix from $\bm{\tau}^\prime$ to $\bm{\epsilon}_{\mathcal{X}_n}$ for the design of $\bm{K}_\mathcal{L}$.
|
||||
|
||||
The diagonal elements of the transfer function matrix from $\bm{\tau}^\prime$ to $\bm{\epsilon}_{\mathcal{X}_n}$ for the three considered masses are shown in Figure [[fig:opt_stiff_primary_plant_L]].
|
||||
@ -742,6 +747,37 @@ exportFig('figs/opt_stiff_primary_plant_L.pdf', 'width', 'full', 'height', 'full
|
||||
#+RESULTS:
|
||||
[[file:figs/opt_stiff_primary_plant_L.png]]
|
||||
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
c1 = [ 0 0.4470 0.7410 0.2]; % Blue
|
||||
c2 = [0.8500 0.3250 0.0980 0.2]; % Orange
|
||||
c3 = [0.9290 0.6940 0.1250 0.2]; % Yellow
|
||||
c4 = [0.4940 0.1840 0.5560 0.2]; % Purple
|
||||
c5 = [0.4660 0.6740 0.1880 0.2]; % Green
|
||||
c6 = [0.3010 0.7450 0.9330 0.2]; % Light Blue
|
||||
c7 = [0.6350 0.0780 0.1840 0.2]; % Red
|
||||
colors = [c1; c2; c3; c4; c5; c6; c7];
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gm_l{i}(1, 1), freqs, 'Hz'))), '-');
|
||||
for j = 1:5
|
||||
for k = j+1:6
|
||||
plot(freqs, abs(squeeze(freqresp(Gm_l{i}(j, k), freqs, 'Hz'))), '--', 'color', colors(i, :));
|
||||
end
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
ylim([1e-9, inf]);
|
||||
#+end_src
|
||||
|
||||
** Control in the leg space
|
||||
We design a diagonal controller with all the same diagonal elements.
|
||||
|
||||
@ -759,19 +795,14 @@ The design controller is as follows:
|
||||
The loop gain is shown in Figure [[fig:opt_stiff_primary_loop_gain_L]].
|
||||
|
||||
#+begin_src matlab
|
||||
h = 2.5;
|
||||
h = 2.0;
|
||||
Kl = 2e7 * eye(6) * ...
|
||||
1/h*(s/(2*pi*100/h) + 1)/(s/(2*pi*100*h) + 1) * ...
|
||||
1/h*(s/(2*pi*200/h) + 1)/(s/(2*pi*200*h) + 1) * ...
|
||||
(s/2/pi/10 + 1)/(s/2/pi/10) * ...
|
||||
1/(1 + s/2/pi/300);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
for i = 1:length(Ms)
|
||||
isstable(feedback(Gm_l{i}(1,1)*Kl(1,1), 1, -1))
|
||||
end
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
@ -817,7 +848,14 @@ exportFig('figs/opt_stiff_primary_loop_gain_L.pdf', 'width', 'full', 'height', '
|
||||
|
||||
#+begin_src matlab
|
||||
load('mat/stages.mat', 'nano_hexapod');
|
||||
K = Kl*nano_hexapod.J;
|
||||
K = Kl*nano_hexapod.J*diag([1, 1, 1, 1, 1, 0]);
|
||||
#+end_src
|
||||
|
||||
Check the MIMO stability
|
||||
#+begin_src matlab :exports none
|
||||
for i = 1:length(Ms)
|
||||
isstable(feedback(nano_hexapod.J\Gm_l{i}*K, eye(6), -1))
|
||||
end
|
||||
#+end_src
|
||||
|
||||
** Sensibility to Disturbances and Noise Budget
|
||||
@ -1014,18 +1052,21 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
[[file:figs/opt_stiff_primary_control_L_cas_tot.png]]
|
||||
|
||||
** Simulations
|
||||
Let's now simulate a tomography experiment.
|
||||
To do so, we include all disturbances except vibrations of the translation stage.
|
||||
#+begin_src matlab
|
||||
initializeDisturbances('Fty_x', false, 'Fty_z', false);
|
||||
initializeSimscapeConfiguration('gravity', false);
|
||||
initializeLoggingConfiguration('log', 'all');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '2');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
And we run the simulation for all three payload Masses.
|
||||
#+begin_src matlab :exports none
|
||||
hac_dvf_L = {zeros(length(Ms)), 1};
|
||||
|
||||
for i = 1:length(Ms)
|
||||
@ -1037,21 +1078,27 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
end
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
save('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L');
|
||||
#+end_src
|
||||
|
||||
** Results
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
load('./mat/experiment_tomography.mat', 'tomo_align_dist');
|
||||
load('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
Let's now see how this controller performs.
|
||||
|
||||
First, we compute the Power Spectral Density of the sample's position error and we compare it with the open loop case in Figure [[fig:opt_stiff_hac_dvf_L_psd_disp_error]].
|
||||
|
||||
Similarly, the Cumulative Amplitude Spectrum is shown in Figure [[fig:opt_stiff_hac_dvf_L_cas_disp_error]].
|
||||
|
||||
Finally, the time domain position error signals are shown in Figure [[fig:opt_stiff_hac_dvf_L_pos_error]].
|
||||
#+begin_src matlab :exports none
|
||||
n_av = 4;
|
||||
han_win = hanning(ceil(length(simout.Em.En.Data(:,1))/n_av));
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
t = simout.Em.En.Time;
|
||||
Ts = t(2)-t(1);
|
||||
|
||||
@ -1068,8 +1115,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
figure;
|
||||
ax1 = subplot(2, 3, 1);
|
||||
hold on;
|
||||
plot(f, sqrt(pxx_ol(:, 1)))
|
||||
plot(f, sqrt(pxx_ol(:, 1)), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(pxx_dvf_L(:, 1, i)))
|
||||
end
|
||||
hold off;
|
||||
@ -1079,8 +1127,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax2 = subplot(2, 3, 2);
|
||||
hold on;
|
||||
plot(f, sqrt(pxx_ol(:, 2)))
|
||||
plot(f, sqrt(pxx_ol(:, 2)), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(pxx_dvf_L(:, 2, i)))
|
||||
end
|
||||
hold off;
|
||||
@ -1090,8 +1139,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax3 = subplot(2, 3, 3);
|
||||
hold on;
|
||||
plot(f, sqrt(pxx_ol(:, 3)))
|
||||
plot(f, sqrt(pxx_ol(:, 3)), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(pxx_dvf_L(:, 3, i)))
|
||||
end
|
||||
hold off;
|
||||
@ -1101,8 +1151,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax4 = subplot(2, 3, 4);
|
||||
hold on;
|
||||
plot(f, sqrt(pxx_ol(:, 4)))
|
||||
plot(f, sqrt(pxx_ol(:, 4)), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(pxx_dvf_L(:, 4, i)))
|
||||
end
|
||||
hold off;
|
||||
@ -1112,8 +1163,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax5 = subplot(2, 3, 5);
|
||||
hold on;
|
||||
plot(f, sqrt(pxx_ol(:, 5)))
|
||||
plot(f, sqrt(pxx_ol(:, 5)), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(pxx_dvf_L(:, 5, i)))
|
||||
end
|
||||
hold off;
|
||||
@ -1123,8 +1175,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax6 = subplot(2, 3, 6);
|
||||
hold on;
|
||||
plot(f, sqrt(pxx_ol(:, 6)), 'DisplayName', '$\mu$-Station')
|
||||
plot(f, sqrt(pxx_ol(:, 6)), 'k-', 'DisplayName', '$\mu$-Station')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(pxx_dvf_L(:, 6, i)), ...
|
||||
'DisplayName', sprintf('HAC-DVF $m = %.0f kg$', Ms(i)))
|
||||
end
|
||||
@ -1138,12 +1191,22 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
xlim([f(2), f(end)])
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/opt_stiff_hac_dvf_L_psd_disp_error.pdf', 'width', 'full', 'height', 'full')
|
||||
#+end_src
|
||||
|
||||
#+name: fig:opt_stiff_hac_dvf_L_psd_disp_error
|
||||
#+caption: Amplitude Spectral Density of the position error in Open Loop and with the HAC-LAC controller
|
||||
#+RESULTS:
|
||||
[[file:figs/opt_stiff_hac_dvf_L_psd_disp_error.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
ax1 = subplot(2, 3, 1);
|
||||
hold on;
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 1))))))
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 1))))), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 1, i))))));
|
||||
end
|
||||
hold off;
|
||||
@ -1154,8 +1217,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax2 = subplot(2, 3, 2);
|
||||
hold on;
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 2))))))
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 2))))), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 2, i))))));
|
||||
end
|
||||
hold off;
|
||||
@ -1166,8 +1230,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax3 = subplot(2, 3, 3);
|
||||
hold on;
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 3))))))
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 3))))), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 3, i))))));
|
||||
end
|
||||
hold off;
|
||||
@ -1178,8 +1243,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax4 = subplot(2, 3, 4);
|
||||
hold on;
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 4))))))
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 4))))), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 4, i))))));
|
||||
end
|
||||
hold off;
|
||||
@ -1190,8 +1256,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax5 = subplot(2, 3, 5);
|
||||
hold on;
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 5))))))
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 5))))), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 5, i))))));
|
||||
end
|
||||
hold off;
|
||||
@ -1202,8 +1269,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax6 = subplot(2, 3, 6);
|
||||
hold on;
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 6))))), 'DisplayName', '$\mu$-Station')
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 6))))), 'k-', 'DisplayName', '$\mu$-Station')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 6, i))))), ...
|
||||
'DisplayName', sprintf('HAC-DVF $m = %.0f kg$', Ms(i)));
|
||||
end
|
||||
@ -1218,12 +1286,22 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
xlim([f(2), f(end)])
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/opt_stiff_hac_dvf_L_cas_disp_error.pdf', 'width', 'full', 'height', 'full')
|
||||
#+end_src
|
||||
|
||||
#+name: fig:opt_stiff_hac_dvf_L_cas_disp_error
|
||||
#+caption: Cumulative Amplitude Spectrum of the position error in Open Loop and with the HAC-LAC controller
|
||||
#+RESULTS:
|
||||
[[file:figs/opt_stiff_hac_dvf_L_cas_disp_error.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
ax1 = subplot(2, 3, 1);
|
||||
hold on;
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 1))
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 1), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 1));
|
||||
end
|
||||
hold off;
|
||||
@ -1232,8 +1310,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax2 = subplot(2, 3, 2);
|
||||
hold on;
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 2))
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 2), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 2));
|
||||
end
|
||||
hold off;
|
||||
@ -1242,8 +1321,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax3 = subplot(2, 3, 3);
|
||||
hold on;
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 3))
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 3), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 3));
|
||||
end
|
||||
hold off;
|
||||
@ -1252,8 +1332,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax4 = subplot(2, 3, 4);
|
||||
hold on;
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 4))
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 4), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 4));
|
||||
end
|
||||
hold off;
|
||||
@ -1262,8 +1343,9 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax5 = subplot(2, 3, 5);
|
||||
hold on;
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 5))
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 5), 'k-')
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 5));
|
||||
end
|
||||
hold off;
|
||||
@ -1272,9 +1354,10 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
|
||||
ax6 = subplot(2, 3, 6);
|
||||
hold on;
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 6), ...
|
||||
'DisplayName', '$\mu$-Station')
|
||||
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 6), 'k-', ...
|
||||
'DisplayName', '$\mu$-Station');
|
||||
for i = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 6), ...
|
||||
'DisplayName', sprintf('HAC-DVF $m = %.0f kg$', Ms(i)));
|
||||
end
|
||||
@ -1286,9 +1369,31 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
|
||||
linkaxes([ax1,ax2,ax3,ax4],'x');
|
||||
xlim([0.5, inf]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/opt_stiff_hac_dvf_L_pos_error.pdf', 'width', 'full', 'height', 'full')
|
||||
#+end_src
|
||||
|
||||
#+name: fig:opt_stiff_hac_dvf_L_pos_error
|
||||
#+caption: Position Error of the sample during a tomography experiment when no control is applied and with the HAC-DVF control architecture
|
||||
#+RESULTS:
|
||||
[[file:figs/opt_stiff_hac_dvf_L_pos_error.png]]
|
||||
|
||||
** Conclusion
|
||||
#+begin_important
|
||||
|
||||
#+end_important
|
||||
|
||||
* Primary Control in the task space
|
||||
<<sec:primary_control_X>>
|
||||
** Introduction :ignore:
|
||||
In this section, the control architecture shown in Figure [[fig:control_architecture_hac_dvf_pos_X]] is applied and consists of:
|
||||
- an inner Low Authority Control loop consisting of a decentralized direct velocity control controller
|
||||
- an outer loop with the primary controller $\bm{K}_\mathcal{X}$ designed in the task space
|
||||
|
||||
#+name: fig:control_architecture_hac_dvf_pos_X
|
||||
#+caption: HAC-LAC architecture
|
||||
[[file:figs/control_architecture_hac_dvf_pos_X.png]]
|
||||
|
||||
** Plant in the task space
|
||||
Let's look $\bm{G}_\mathcal{X}(s)$.
|
||||
@ -1572,3 +1677,7 @@ Let's look $\bm{G}_\mathcal{X}(s)$.
|
||||
#+end_src
|
||||
|
||||
** Simulation
|
||||
** Conclusion
|
||||
#+begin_important
|
||||
|
||||
#+end_important
|
||||
|