tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Update all links

Browse Source
This commit is contained in:
Thomas Dehaeze
2020-02-25 18:21:17 +01:00
parent 81ebd64e76
commit b7daaf18b2
28 changed files with 1063 additions and 1077 deletions
Download Patch File Download Diff File Expand all files Collapse all files

87
docs/hac_lac.html
View File

@@ -1,11 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<?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>
<!-- 2020-02-25 mar. 18:08 -->
<!-- 2020-02-25 mar. 18:20 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>HAC-LAC applied on the Simscape Model</title>
@@ -195,13 +194,13 @@
.org-svg { width: 90%; }
/*]]>*/-->
</style>
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
<script type="text/javascript" src="../js/jquery.min.js"></script>
<script type="text/javascript" src="../js/bootstrap.min.js"></script>
<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="../js/readtheorg.js"></script>
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
<script type="text/javascript" src="./js/jquery.min.js"></script>
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="./js/readtheorg.js"></script>
<script type="text/javascript">
/*
@licstart The following is the entire license notice for the
@@ -251,9 +250,9 @@ for the JavaScript code in this tag.
</head>
<body>
<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
<a accesskey="h" href="./index.html"> UP </a>
|
<a accesskey="H" href="../index.html"> HOME </a>
<a accesskey="H" href="./index.html"> HOME </a>
</div><div id="content">
<h1 class="title">HAC-LAC applied on the Simscape Model</h1>
<div id="table-of-contents">
@@ -264,10 +263,10 @@ for the JavaScript code in this tag.
<ul>
<li><a href="#org05b902d">1.1. Identification of the plant</a>
<ul>
<li><a href="#orgfd2208d">1.1.1. Initialize the Simulation</a></li>
<li><a href="#orgd132773">1.1.2. Identification</a></li>
<li><a href="#org9d87e76">1.1.3. Display TF</a></li>
<li><a href="#org5c51ae8">1.1.4. Obtained Plants for Active Damping</a></li>
<li><a href="#orga716982">1.1.1. Initialize the Simulation</a></li>
<li><a href="#org2a3d76d">1.1.2. Identification</a></li>
<li><a href="#org86a6b3a">1.1.3. Display TF</a></li>
<li><a href="#org51e23f6">1.1.4. Obtained Plants for Active Damping</a></li>
</ul>
</li>
<li><a href="#orgaf40de5">1.2. Tomography Experiment</a>
@@ -278,10 +277,10 @@ for the JavaScript code in this tag.
</li>
<li><a href="#orgdcbab01">1.3. Verification of the transfer function from nano hexapod to metrology</a>
<ul>
<li><a href="#orga716982">1.3.1. Initialize the Simulation</a></li>
<li><a href="#org2a3d76d">1.3.2. Identification</a></li>
<li><a href="#org86a6b3a">1.3.3. Display TF</a></li>
<li><a href="#org51e23f6">1.3.4. Obtained Plants for Active Damping</a></li>
<li><a href="#org9edf24c">1.3.1. Initialize the Simulation</a></li>
<li><a href="#org9ff767e">1.3.2. Identification</a></li>
<li><a href="#org5c0b9bf">1.3.3. Display TF</a></li>
<li><a href="#org6288fb1">1.3.4. Obtained Plants for Active Damping</a></li>
</ul>
</li>
</ul>
@@ -302,8 +301,8 @@ for the JavaScript code in this tag.
<h3 id="org05b902d"><span class="section-number-3">1.1</span> Identification of the plant</h3>
<div class="outline-text-3" id="text-1-1">
</div>
<div id="outline-container-orgfd2208d" class="outline-4">
<h4 id="orgfd2208d"><span class="section-number-4">1.1.1</span> Initialize the Simulation</h4>
<div id="outline-container-orga716982" class="outline-4">
<h4 id="orga716982"><span class="section-number-4">1.1.1</span> Initialize the Simulation</h4>
<div class="outline-text-4" id="text-1-1-1">
<p>
We initialize all the stages with the default parameters.
@@ -355,8 +354,8 @@ And all the controllers are set to 0.
</div>
</div>
<div id="outline-container-orgd132773" class="outline-4">
<h4 id="orgd132773"><span class="section-number-4">1.1.2</span> Identification</h4>
<div id="outline-container-org2a3d76d" class="outline-4">
<h4 id="org2a3d76d"><span class="section-number-4">1.1.2</span> Identification</h4>
<div class="outline-text-4" id="text-1-1-2">
<p>
First, we identify the dynamics of the system using the <code>linearize</code> function.
@@ -396,11 +395,11 @@ G_legs.OutputName = {<span class="org-string">'e1'</span>, <span class="org-stri
</div>
</div>
<div id="outline-container-org9d87e76" class="outline-4">
<h4 id="org9d87e76"><span class="section-number-4">1.1.3</span> Display TF</h4>
<div id="outline-container-org86a6b3a" class="outline-4">
<h4 id="org86a6b3a"><span class="section-number-4">1.1.3</span> Display TF</h4>
<div class="outline-text-4" id="text-1-1-3">
<div id="org0cc732b" class="figure">
<div id="org37e58f3" class="figure">
<p><img src="figs/plant_G_cart.png" alt="plant_G_cart.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Transfer Function from forces applied by the nano-hexapod to position error (<a href="./figs/plant_G_cart.png">png</a>, <a href="./figs/plant_G_cart.pdf">pdf</a>)</p>
@@ -408,25 +407,25 @@ G_legs.OutputName = {<span class="org-string">'e1'</span>, <span class="org-stri
</div>
</div>
<div id="outline-container-org5c51ae8" class="outline-4">
<h4 id="org5c51ae8"><span class="section-number-4">1.1.4</span> Obtained Plants for Active Damping</h4>
<div id="outline-container-org51e23f6" class="outline-4">
<h4 id="org51e23f6"><span class="section-number-4">1.1.4</span> Obtained Plants for Active Damping</h4>
<div class="outline-text-4" id="text-1-1-4">
<div id="org76f625d" class="figure">
<div id="orga98bcf7" class="figure">
<p><img src="figs/nass_active_damping_iff_plant.png" alt="nass_active_damping_iff_plant.png" />
</p>
<p><span class="figure-number">Figure 2: </span><code>G_iff</code>: IFF Plant (<a href="./figs/nass_active_damping_iff_plant.png">png</a>, <a href="./figs/nass_active_damping_iff_plant.pdf">pdf</a>)</p>
</div>
<div id="org8206b3b" class="figure">
<div id="orgf5e6d6e" class="figure">
<p><img src="figs/nass_active_damping_ine_plant.png" alt="nass_active_damping_ine_plant.png" />
</p>
<p><span class="figure-number">Figure 3: </span><code>G_dvf</code>: Plant for Direct Velocity Feedback (<a href="./figs/nass_active_damping_dvf_plant.png">png</a>, <a href="./figs/nass_active_damping_dvf_plant.pdf">pdf</a>)</p>
</div>
<div id="org145c602" class="figure">
<div id="orgfe31dcc" class="figure">
<p><img src="figs/nass_active_damping_inertial_plant.png" alt="nass_active_damping_inertial_plant.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Inertial Feedback Plant (<a href="./figs/nass_active_damping_inertial_plant.png">png</a>, <a href="./figs/nass_active_damping_inertial_plant.pdf">pdf</a>)</p>
@@ -510,8 +509,8 @@ t = linspace(0, 3, length(En(<span class="org-type">:</span>,1)));
<h3 id="orgdcbab01"><span class="section-number-3">1.3</span> Verification of the transfer function from nano hexapod to metrology</h3>
<div class="outline-text-3" id="text-1-3">
</div>
<div id="outline-container-orga716982" class="outline-4">
<h4 id="orga716982"><span class="section-number-4">1.3.1</span> Initialize the Simulation</h4>
<div id="outline-container-org9edf24c" class="outline-4">
<h4 id="org9edf24c"><span class="section-number-4">1.3.1</span> Initialize the Simulation</h4>
<div class="outline-text-4" id="text-1-3-1">
<p>
We initialize all the stages with the default parameters.
@@ -563,8 +562,8 @@ And all the controllers are set to 0.
</div>
</div>
<div id="outline-container-org2a3d76d" class="outline-4">
<h4 id="org2a3d76d"><span class="section-number-4">1.3.2</span> Identification</h4>
<div id="outline-container-org9ff767e" class="outline-4">
<h4 id="org9ff767e"><span class="section-number-4">1.3.2</span> Identification</h4>
<div class="outline-text-4" id="text-1-3-2">
<p>
First, we identify the dynamics of the system using the <code>linearize</code> function.
@@ -604,11 +603,11 @@ G_legs.OutputName = {<span class="org-string">'e1'</span>, <span class="org-stri
</div>
</div>
<div id="outline-container-org86a6b3a" class="outline-4">
<h4 id="org86a6b3a"><span class="section-number-4">1.3.3</span> Display TF</h4>
<div id="outline-container-org5c0b9bf" class="outline-4">
<h4 id="org5c0b9bf"><span class="section-number-4">1.3.3</span> Display TF</h4>
<div class="outline-text-4" id="text-1-3-3">
<div id="org37e58f3" class="figure">
<div id="org85c36b6" class="figure">
<p><img src="figs/plant_G_cart.png" alt="plant_G_cart.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Transfer Function from forces applied by the nano-hexapod to position error (<a href="./figs/plant_G_cart.png">png</a>, <a href="./figs/plant_G_cart.pdf">pdf</a>)</p>
@@ -616,25 +615,25 @@ G_legs.OutputName = {<span class="org-string">'e1'</span>, <span class="org-stri
</div>
</div>
<div id="outline-container-org51e23f6" class="outline-4">
<h4 id="org51e23f6"><span class="section-number-4">1.3.4</span> Obtained Plants for Active Damping</h4>
<div id="outline-container-org6288fb1" class="outline-4">
<h4 id="org6288fb1"><span class="section-number-4">1.3.4</span> Obtained Plants for Active Damping</h4>
<div class="outline-text-4" id="text-1-3-4">
<div id="orga98bcf7" class="figure">
<div id="org29fb6b2" class="figure">
<p><img src="figs/nass_active_damping_iff_plant.png" alt="nass_active_damping_iff_plant.png" />
</p>
<p><span class="figure-number">Figure 8: </span><code>G_iff</code>: IFF Plant (<a href="./figs/nass_active_damping_iff_plant.png">png</a>, <a href="./figs/nass_active_damping_iff_plant.pdf">pdf</a>)</p>
</div>
<div id="orgf5e6d6e" class="figure">
<div id="org9412773" class="figure">
<p><img src="figs/nass_active_damping_ine_plant.png" alt="nass_active_damping_ine_plant.png" />
</p>
<p><span class="figure-number">Figure 9: </span><code>G_dvf</code>: Plant for Direct Velocity Feedback (<a href="./figs/nass_active_damping_dvf_plant.png">png</a>, <a href="./figs/nass_active_damping_dvf_plant.pdf">pdf</a>)</p>
</div>
<div id="orgfe31dcc" class="figure">
<div id="orgea280f2" class="figure">
<p><img src="figs/nass_active_damping_inertial_plant.png" alt="nass_active_damping_inertial_plant.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Inertial Feedback Plant (<a href="./figs/nass_active_damping_inertial_plant.png">png</a>, <a href="./figs/nass_active_damping_inertial_plant.pdf">pdf</a>)</p>
@@ -646,7 +645,7 @@ G_legs.OutputName = {<span class="org-string">'e1'</span>, <span class="org-stri
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-25 mar. 18:08</p>
<p class="date">Created: 2020-02-25 mar. 18:20</p>
</div>
</body>
</html>