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<title>Active Damping applied on the Simscape Model</title>
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<title>Active Damping applied on the Simscape Model</title>
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@licstart The following is the entire license notice for the
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</div><div id="content">
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</div><div id="content">
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<h1 class="title">Active Damping applied on the Simscape Model</h1>
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<h1 class="title">Active Damping applied on the Simscape Model</h1>
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<div id="table-of-contents">
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<div id="table-of-contents">
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@ -274,17 +273,17 @@ for the JavaScript code in this tag.
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<ul>
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<ul>
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||||||
<li><a href="#orga668d6d">1.1. Identification of the dynamics for Active Damping</a>
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<li><a href="#orga668d6d">1.1. Identification of the dynamics for Active Damping</a>
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<ul>
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<ul>
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||||||
<li><a href="#orgbaab9df">1.1.1. Identification</a></li>
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<li><a href="#orgd1a656e">1.1.1. Identification</a></li>
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||||||
<li><a href="#orge632d78">1.1.2. Obtained Plants for Active Damping</a></li>
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<li><a href="#orge632d78">1.1.2. Obtained Plants for Active Damping</a></li>
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||||||
</ul>
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</ul>
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||||||
</li>
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</li>
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||||||
<li><a href="#orgacbac97">1.2. Identification of the dynamics for High Authority Control</a>
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<li><a href="#orgacbac97">1.2. Identification of the dynamics for High Authority Control</a>
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||||||
<ul>
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<ul>
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||||||
<li><a href="#orgd1a656e">1.2.1. Identification</a></li>
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<li><a href="#org9dde5ce">1.2.1. Identification</a></li>
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||||||
<li><a href="#org245ebc9">1.2.2. Obtained Plants</a></li>
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<li><a href="#org245ebc9">1.2.2. Obtained Plants</a></li>
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||||||
</ul>
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</ul>
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||||||
</li>
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</li>
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||||||
<li><a href="#org072b32a">1.3. Tomography Experiment</a>
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<li><a href="#orgc633a52">1.3. Tomography Experiment</a>
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||||||
<ul>
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<ul>
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||||||
<li><a href="#orgd2384a9">1.3.1. Simulation</a></li>
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<li><a href="#orgd2384a9">1.3.1. Simulation</a></li>
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||||||
<li><a href="#orgd00d359">1.3.2. Results</a></li>
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<li><a href="#orgd00d359">1.3.2. Results</a></li>
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||||||
@ -304,55 +303,55 @@ for the JavaScript code in this tag.
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|||||||
</li>
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</li>
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||||||
<li><a href="#org89179a2">2.4. Variation of the Tilt Angle</a></li>
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<li><a href="#org89179a2">2.4. Variation of the Tilt Angle</a></li>
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||||||
<li><a href="#org701d7f3">2.5. Scans of the Translation Stage</a></li>
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<li><a href="#org701d7f3">2.5. Scans of the Translation Stage</a></li>
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||||||
<li><a href="#orga697040">2.6. Conclusion</a></li>
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<li><a href="#org1b61fb2">2.6. Conclusion</a></li>
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||||||
</ul>
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</ul>
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</li>
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</li>
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<li><a href="#org28bb8b8">3. Integral Force Feedback</a>
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<li><a href="#org28bb8b8">3. Integral Force Feedback</a>
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<ul>
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<ul>
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<li><a href="#orga2142db">3.1. Control Design</a>
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<li><a href="#org8147539">3.1. Control Design</a>
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||||||
<ul>
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<ul>
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||||||
<li><a href="#orgcf1bf17">3.1.1. Plant</a></li>
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<li><a href="#org7579fa1">3.1.1. Plant</a></li>
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||||||
<li><a href="#orgaca3b16">3.1.2. Control Design</a></li>
|
<li><a href="#org1069779">3.1.2. Control Design</a></li>
|
||||||
<li><a href="#org39a3259">3.1.3. Diagonal Controller</a></li>
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<li><a href="#org0929a5f">3.1.3. Diagonal Controller</a></li>
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||||||
</ul>
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</ul>
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||||||
</li>
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</li>
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||||||
<li><a href="#orge945074">3.2. Tomography Experiment</a>
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<li><a href="#org92b7e4a">3.2. Tomography Experiment</a>
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||||||
<ul>
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<ul>
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||||||
<li><a href="#orge827289">3.2.1. Simulation with IFF Controller</a></li>
|
<li><a href="#orge827289">3.2.1. Simulation with IFF Controller</a></li>
|
||||||
<li><a href="#org0ca3dfa">3.2.2. Compare with Undamped system</a></li>
|
<li><a href="#org34c04f2">3.2.2. Compare with Undamped system</a></li>
|
||||||
</ul>
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</ul>
|
||||||
</li>
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</li>
|
||||||
<li><a href="#orge036b39">3.3. Conclusion</a></li>
|
<li><a href="#orge208898">3.3. Conclusion</a></li>
|
||||||
</ul>
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</ul>
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||||||
</li>
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</li>
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||||||
<li><a href="#orge2515a1">4. Direct Velocity Feedback</a>
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<li><a href="#orge2515a1">4. Direct Velocity Feedback</a>
|
||||||
<ul>
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<ul>
|
||||||
<li><a href="#org7a0849a">4.1. Control Design</a>
|
<li><a href="#org2454b5d">4.1. Control Design</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org9a95e47">4.1.1. Plant</a></li>
|
<li><a href="#orgd36a459">4.1.1. Plant</a></li>
|
||||||
<li><a href="#orgb9858c3">4.1.2. Control Design</a></li>
|
<li><a href="#orgf771969">4.1.2. Control Design</a></li>
|
||||||
<li><a href="#orgb9638f1">4.1.3. Diagonal Controller</a></li>
|
<li><a href="#org1fa78ea">4.1.3. Diagonal Controller</a></li>
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||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgc633a52">4.2. Tomography Experiment</a>
|
<li><a href="#orgdc2cc7d">4.2. Tomography Experiment</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org4d239c9">4.2.1. Initialize the Simulation</a></li>
|
<li><a href="#org315e901">4.2.1. Initialize the Simulation</a></li>
|
||||||
<li><a href="#org34c04f2">4.2.2. Compare with Undamped system</a></li>
|
<li><a href="#orgbe122b9">4.2.2. Compare with Undamped system</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org24a50bf">4.3. Conclusion</a></li>
|
<li><a href="#org2edf5bd">4.3. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
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</li>
|
||||||
<li><a href="#org5047e99">5. Inertial Control</a>
|
<li><a href="#org5047e99">5. Inertial Control</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org1069779">5.1. Control Design</a>
|
<li><a href="#org5bec512">5.1. Control Design</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org7579fa1">5.1.1. Plant</a></li>
|
<li><a href="#org16795b0">5.1.1. Plant</a></li>
|
||||||
<li><a href="#orgc4c6a5a">5.1.2. Control Design</a></li>
|
<li><a href="#org9ce4e10">5.1.2. Control Design</a></li>
|
||||||
<li><a href="#org0929a5f">5.1.3. Diagonal Controller</a></li>
|
<li><a href="#org132c666">5.1.3. Diagonal Controller</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org1b61fb2">5.2. Conclusion</a></li>
|
<li><a href="#org408de58">5.2. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgd2a9c18">6. Comparison</a>
|
<li><a href="#orgd2a9c18">6. Comparison</a>
|
||||||
@ -367,16 +366,16 @@ for the JavaScript code in this tag.
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|||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgcf56890">7.1. prepareLinearizeIdentification</a>
|
<li><a href="#orgcf56890">7.1. prepareLinearizeIdentification</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org56ccd79">Function Description</a></li>
|
<li><a href="#org2b7c7da">Function Description</a></li>
|
||||||
<li><a href="#orgdbd3a09">Optional Parameters</a></li>
|
<li><a href="#org6e16103">Optional Parameters</a></li>
|
||||||
<li><a href="#orgdd3adc1">Initialize the Simulation</a></li>
|
<li><a href="#org552f1ca">Initialize the Simulation</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgc2b4408">7.2. prepareTomographyExperiment</a>
|
<li><a href="#orgc2b4408">7.2. prepareTomographyExperiment</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org2b7c7da">Function Description</a></li>
|
<li><a href="#org6dacc19">Function Description</a></li>
|
||||||
<li><a href="#org6e16103">Optional Parameters</a></li>
|
<li><a href="#org65022a7">Optional Parameters</a></li>
|
||||||
<li><a href="#org315e901">Initialize the Simulation</a></li>
|
<li><a href="#orga0e6a80">Initialize the Simulation</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
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</li>
|
||||||
</ul>
|
</ul>
|
||||||
@ -448,8 +447,8 @@ After that, a tomography experiment is simulation without any active damping tec
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|||||||
<h3 id="orga668d6d"><span class="section-number-3">1.1</span> Identification of the dynamics for Active Damping</h3>
|
<h3 id="orga668d6d"><span class="section-number-3">1.1</span> Identification of the dynamics for Active Damping</h3>
|
||||||
<div class="outline-text-3" id="text-1-1">
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<div class="outline-text-3" id="text-1-1">
|
||||||
</div>
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</div>
|
||||||
<div id="outline-container-orgbaab9df" class="outline-4">
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<div id="outline-container-orgd1a656e" class="outline-4">
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||||||
<h4 id="orgbaab9df"><span class="section-number-4">1.1.1</span> Identification</h4>
|
<h4 id="orgd1a656e"><span class="section-number-4">1.1.1</span> Identification</h4>
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||||||
<div class="outline-text-4" id="text-1-1-1">
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<div class="outline-text-4" id="text-1-1-1">
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||||||
<p>
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<p>
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||||||
We initialize all the stages with the default parameters.
|
We initialize all the stages with the default parameters.
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||||||
@ -542,8 +541,8 @@ And we save them for further analysis.
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|||||||
<h3 id="orgacbac97"><span class="section-number-3">1.2</span> Identification of the dynamics for High Authority Control</h3>
|
<h3 id="orgacbac97"><span class="section-number-3">1.2</span> Identification of the dynamics for High Authority Control</h3>
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||||||
<div class="outline-text-3" id="text-1-2">
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<div class="outline-text-3" id="text-1-2">
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||||||
</div>
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</div>
|
||||||
<div id="outline-container-orgd1a656e" class="outline-4">
|
<div id="outline-container-org9dde5ce" class="outline-4">
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||||||
<h4 id="orgd1a656e"><span class="section-number-4">1.2.1</span> Identification</h4>
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<h4 id="org9dde5ce"><span class="section-number-4">1.2.1</span> Identification</h4>
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||||||
<div class="outline-text-4" id="text-1-2-1">
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<div class="outline-text-4" id="text-1-2-1">
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||||||
<p>
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<p>
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||||||
We initialize all the stages with the default parameters.
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We initialize all the stages with the default parameters.
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||||||
@ -612,8 +611,8 @@ And we save them for further analysis.
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|||||||
</div>
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</div>
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||||||
</div>
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</div>
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||||||
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||||||
<div id="outline-container-org072b32a" class="outline-3">
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<div id="outline-container-orgc633a52" class="outline-3">
|
||||||
<h3 id="org072b32a"><span class="section-number-3">1.3</span> Tomography Experiment</h3>
|
<h3 id="orgc633a52"><span class="section-number-3">1.3</span> Tomography Experiment</h3>
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||||||
<div class="outline-text-3" id="text-1-3">
|
<div class="outline-text-3" id="text-1-3">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgd2384a9" class="outline-4">
|
<div id="outline-container-orgd2384a9" class="outline-4">
|
||||||
@ -1001,8 +1000,8 @@ We identify the dynamics at different positions (times) when scanning with the T
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|||||||
</div>
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</div>
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||||||
</div>
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</div>
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||||||
|
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||||||
<div id="outline-container-orga697040" class="outline-3">
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<div id="outline-container-org1b61fb2" class="outline-3">
|
||||||
<h3 id="orga697040"><span class="section-number-3">2.6</span> Conclusion</h3>
|
<h3 id="org1b61fb2"><span class="section-number-3">2.6</span> Conclusion</h3>
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||||||
<div class="outline-text-3" id="text-2-6">
|
<div class="outline-text-3" id="text-2-6">
|
||||||
<table id="org664ed44" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<table id="org664ed44" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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||||||
<caption class="t-above"><span class="table-number">Table 1:</span> Conclusion on the variability of the system dynamics for active damping</caption>
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<caption class="t-above"><span class="table-number">Table 1:</span> Conclusion on the variability of the system dynamics for active damping</caption>
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||||||
@ -1093,12 +1092,12 @@ The control architecture is represented in figure <a href="#org03ecebf">29</a> w
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|||||||
</div>
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</div>
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||||||
</div>
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</div>
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||||||
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||||||
<div id="outline-container-orga2142db" class="outline-3">
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<div id="outline-container-org8147539" class="outline-3">
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||||||
<h3 id="orga2142db"><span class="section-number-3">3.1</span> Control Design</h3>
|
<h3 id="org8147539"><span class="section-number-3">3.1</span> Control Design</h3>
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||||||
<div class="outline-text-3" id="text-3-1">
|
<div class="outline-text-3" id="text-3-1">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgcf1bf17" class="outline-4">
|
<div id="outline-container-org7579fa1" class="outline-4">
|
||||||
<h4 id="orgcf1bf17"><span class="section-number-4">3.1.1</span> Plant</h4>
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<h4 id="org7579fa1"><span class="section-number-4">3.1.1</span> Plant</h4>
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||||||
<div class="outline-text-4" id="text-3-1-1">
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<div class="outline-text-4" id="text-3-1-1">
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||||||
<p>
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<p>
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||||||
Let’s load the previously identified undamped plant:
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Let’s load the previously identified undamped plant:
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||||||
@ -1122,8 +1121,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
|||||||
</div>
|
</div>
|
||||||
</div>
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</div>
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||||||
|
|
||||||
<div id="outline-container-orgaca3b16" class="outline-4">
|
<div id="outline-container-org1069779" class="outline-4">
|
||||||
<h4 id="orgaca3b16"><span class="section-number-4">3.1.2</span> Control Design</h4>
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<h4 id="org1069779"><span class="section-number-4">3.1.2</span> Control Design</h4>
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||||||
<div class="outline-text-4" id="text-3-1-2">
|
<div class="outline-text-4" id="text-3-1-2">
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||||||
<p>
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<p>
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||||||
The controller for each pair of actuator/sensor is:
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The controller for each pair of actuator/sensor is:
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||||||
@ -1147,8 +1146,8 @@ The corresponding loop gains are shown in figure <a href="#orge32c0c8">31</a>.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org39a3259" class="outline-4">
|
<div id="outline-container-org0929a5f" class="outline-4">
|
||||||
<h4 id="org39a3259"><span class="section-number-4">3.1.3</span> Diagonal Controller</h4>
|
<h4 id="org0929a5f"><span class="section-number-4">3.1.3</span> Diagonal Controller</h4>
|
||||||
<div class="outline-text-4" id="text-3-1-3">
|
<div class="outline-text-4" id="text-3-1-3">
|
||||||
<p>
|
<p>
|
||||||
We create the diagonal controller and we add a minus sign as we have a positive
|
We create the diagonal controller and we add a minus sign as we have a positive
|
||||||
@ -1170,8 +1169,8 @@ We save the controller for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orge945074" class="outline-3">
|
<div id="outline-container-org92b7e4a" class="outline-3">
|
||||||
<h3 id="orge945074"><span class="section-number-3">3.2</span> Tomography Experiment</h3>
|
<h3 id="org92b7e4a"><span class="section-number-3">3.2</span> Tomography Experiment</h3>
|
||||||
<div class="outline-text-3" id="text-3-2">
|
<div class="outline-text-3" id="text-3-2">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orge827289" class="outline-4">
|
<div id="outline-container-orge827289" class="outline-4">
|
||||||
@ -1223,8 +1222,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org0ca3dfa" class="outline-4">
|
<div id="outline-container-org34c04f2" class="outline-4">
|
||||||
<h4 id="org0ca3dfa"><span class="section-number-4">3.2.2</span> Compare with Undamped system</h4>
|
<h4 id="org34c04f2"><span class="section-number-4">3.2.2</span> Compare with Undamped system</h4>
|
||||||
<div class="outline-text-4" id="text-3-2-2">
|
<div class="outline-text-4" id="text-3-2-2">
|
||||||
|
|
||||||
<div id="orgc83ffab" class="figure">
|
<div id="orgc83ffab" class="figure">
|
||||||
@ -1250,8 +1249,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orge036b39" class="outline-3">
|
<div id="outline-container-orge208898" class="outline-3">
|
||||||
<h3 id="orge036b39"><span class="section-number-3">3.3</span> Conclusion</h3>
|
<h3 id="orge208898"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-3-3">
|
<div class="outline-text-3" id="text-3-3">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1286,12 +1285,12 @@ The actuator displacement can be measured with a capacitive sensor for instance.
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org7a0849a" class="outline-3">
|
<div id="outline-container-org2454b5d" class="outline-3">
|
||||||
<h3 id="org7a0849a"><span class="section-number-3">4.1</span> Control Design</h3>
|
<h3 id="org2454b5d"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-4-1">
|
<div class="outline-text-3" id="text-4-1">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org9a95e47" class="outline-4">
|
<div id="outline-container-orgd36a459" class="outline-4">
|
||||||
<h4 id="org9a95e47"><span class="section-number-4">4.1.1</span> Plant</h4>
|
<h4 id="orgd36a459"><span class="section-number-4">4.1.1</span> Plant</h4>
|
||||||
<div class="outline-text-4" id="text-4-1-1">
|
<div class="outline-text-4" id="text-4-1-1">
|
||||||
<p>
|
<p>
|
||||||
Let’s load the undamped plant:
|
Let’s load the undamped plant:
|
||||||
@ -1315,8 +1314,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgb9858c3" class="outline-4">
|
<div id="outline-container-orgf771969" class="outline-4">
|
||||||
<h4 id="orgb9858c3"><span class="section-number-4">4.1.2</span> Control Design</h4>
|
<h4 id="orgf771969"><span class="section-number-4">4.1.2</span> Control Design</h4>
|
||||||
<div class="outline-text-4" id="text-4-1-2">
|
<div class="outline-text-4" id="text-4-1-2">
|
||||||
<p>
|
<p>
|
||||||
The Direct Velocity Feedback is defined below.
|
The Direct Velocity Feedback is defined below.
|
||||||
@ -1340,8 +1339,8 @@ The obtained loop gains are shown in figure <a href="#org713f5d4">36</a>.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgb9638f1" class="outline-4">
|
<div id="outline-container-org1fa78ea" class="outline-4">
|
||||||
<h4 id="orgb9638f1"><span class="section-number-4">4.1.3</span> Diagonal Controller</h4>
|
<h4 id="org1fa78ea"><span class="section-number-4">4.1.3</span> Diagonal Controller</h4>
|
||||||
<div class="outline-text-4" id="text-4-1-3">
|
<div class="outline-text-4" id="text-4-1-3">
|
||||||
<p>
|
<p>
|
||||||
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
||||||
@ -1362,12 +1361,12 @@ We save the controller for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgc633a52" class="outline-3">
|
<div id="outline-container-orgdc2cc7d" class="outline-3">
|
||||||
<h3 id="orgc633a52"><span class="section-number-3">4.2</span> Tomography Experiment</h3>
|
<h3 id="orgdc2cc7d"><span class="section-number-3">4.2</span> Tomography Experiment</h3>
|
||||||
<div class="outline-text-3" id="text-4-2">
|
<div class="outline-text-3" id="text-4-2">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org4d239c9" class="outline-4">
|
<div id="outline-container-org315e901" class="outline-4">
|
||||||
<h4 id="org4d239c9"><span class="section-number-4">4.2.1</span> Initialize the Simulation</h4>
|
<h4 id="org315e901"><span class="section-number-4">4.2.1</span> Initialize the Simulation</h4>
|
||||||
<div class="outline-text-4" id="text-4-2-1">
|
<div class="outline-text-4" id="text-4-2-1">
|
||||||
<p>
|
<p>
|
||||||
We initialize elements for the tomography experiment.
|
We initialize elements for the tomography experiment.
|
||||||
@ -1415,8 +1414,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org34c04f2" class="outline-4">
|
<div id="outline-container-orgbe122b9" class="outline-4">
|
||||||
<h4 id="org34c04f2"><span class="section-number-4">4.2.2</span> Compare with Undamped system</h4>
|
<h4 id="orgbe122b9"><span class="section-number-4">4.2.2</span> Compare with Undamped system</h4>
|
||||||
<div class="outline-text-4" id="text-4-2-2">
|
<div class="outline-text-4" id="text-4-2-2">
|
||||||
|
|
||||||
<div id="orge2d1a4a" class="figure">
|
<div id="orge2d1a4a" class="figure">
|
||||||
@ -1442,8 +1441,8 @@ save(<span class="org-string">'./active_damping/mat/tomo_exp.mat'</span>, <span
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org24a50bf" class="outline-3">
|
<div id="outline-container-org2edf5bd" class="outline-3">
|
||||||
<h3 id="org24a50bf"><span class="section-number-3">4.3</span> Conclusion</h3>
|
<h3 id="org2edf5bd"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-4-3">
|
<div class="outline-text-3" id="text-4-3">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1475,12 +1474,12 @@ In Inertial Control, a feedback is applied between the measured <b>absolute</b>
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org1069779" class="outline-3">
|
<div id="outline-container-org5bec512" class="outline-3">
|
||||||
<h3 id="org1069779"><span class="section-number-3">5.1</span> Control Design</h3>
|
<h3 id="org5bec512"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-5-1">
|
<div class="outline-text-3" id="text-5-1">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org7579fa1" class="outline-4">
|
<div id="outline-container-org16795b0" class="outline-4">
|
||||||
<h4 id="org7579fa1"><span class="section-number-4">5.1.1</span> Plant</h4>
|
<h4 id="org16795b0"><span class="section-number-4">5.1.1</span> Plant</h4>
|
||||||
<div class="outline-text-4" id="text-5-1-1">
|
<div class="outline-text-4" id="text-5-1-1">
|
||||||
<p>
|
<p>
|
||||||
Let’s load the undamped plant:
|
Let’s load the undamped plant:
|
||||||
@ -1504,8 +1503,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgc4c6a5a" class="outline-4">
|
<div id="outline-container-org9ce4e10" class="outline-4">
|
||||||
<h4 id="orgc4c6a5a"><span class="section-number-4">5.1.2</span> Control Design</h4>
|
<h4 id="org9ce4e10"><span class="section-number-4">5.1.2</span> Control Design</h4>
|
||||||
<div class="outline-text-4" id="text-5-1-2">
|
<div class="outline-text-4" id="text-5-1-2">
|
||||||
<p>
|
<p>
|
||||||
The controller is defined below and the obtained loop gain is shown in figure <a href="#org76d929a">41</a>.
|
The controller is defined below and the obtained loop gain is shown in figure <a href="#org76d929a">41</a>.
|
||||||
@ -1525,8 +1524,8 @@ The controller is defined below and the obtained loop gain is shown in figure <a
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org0929a5f" class="outline-4">
|
<div id="outline-container-org132c666" class="outline-4">
|
||||||
<h4 id="org0929a5f"><span class="section-number-4">5.1.3</span> Diagonal Controller</h4>
|
<h4 id="org132c666"><span class="section-number-4">5.1.3</span> Diagonal Controller</h4>
|
||||||
<div class="outline-text-4" id="text-5-1-3">
|
<div class="outline-text-4" id="text-5-1-3">
|
||||||
<p>
|
<p>
|
||||||
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
||||||
@ -1547,8 +1546,8 @@ We save the controller for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org1b61fb2" class="outline-3">
|
<div id="outline-container-org408de58" class="outline-3">
|
||||||
<h3 id="org1b61fb2"><span class="section-number-3">5.2</span> Conclusion</h3>
|
<h3 id="org408de58"><span class="section-number-3">5.2</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-5-2">
|
<div class="outline-text-3" id="text-5-2">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1724,9 +1723,9 @@ This Matlab function is accessible <a href="src/prepareLinearizeIdentification.m
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org56ccd79" class="outline-4">
|
<div id="outline-container-org2b7c7da" class="outline-4">
|
||||||
<h4 id="org56ccd79">Function Description</h4>
|
<h4 id="org2b7c7da">Function Description</h4>
|
||||||
<div class="outline-text-4" id="text-org56ccd79">
|
<div class="outline-text-4" id="text-org2b7c7da">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">prepareLinearizeIdentification</span>(<span class="org-variable-name">args</span>)
|
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">prepareLinearizeIdentification</span>(<span class="org-variable-name">args</span>)
|
||||||
</pre>
|
</pre>
|
||||||
@ -1734,9 +1733,9 @@ This Matlab function is accessible <a href="src/prepareLinearizeIdentification.m
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgdbd3a09" class="outline-4">
|
<div id="outline-container-org6e16103" class="outline-4">
|
||||||
<h4 id="orgdbd3a09">Optional Parameters</h4>
|
<h4 id="org6e16103">Optional Parameters</h4>
|
||||||
<div class="outline-text-4" id="text-orgdbd3a09">
|
<div class="outline-text-4" id="text-org6e16103">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">arguments
|
<pre class="src src-matlab">arguments
|
||||||
args.nass_actuator char {mustBeMember(args.nass_actuator,{<span class="org-string">'piezo'</span>, <span class="org-string">'lorentz'</span>})} = <span class="org-string">'piezo'</span>
|
args.nass_actuator char {mustBeMember(args.nass_actuator,{<span class="org-string">'piezo'</span>, <span class="org-string">'lorentz'</span>})} = <span class="org-string">'piezo'</span>
|
||||||
@ -1747,9 +1746,9 @@ This Matlab function is accessible <a href="src/prepareLinearizeIdentification.m
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgdd3adc1" class="outline-4">
|
<div id="outline-container-org552f1ca" class="outline-4">
|
||||||
<h4 id="orgdd3adc1">Initialize the Simulation</h4>
|
<h4 id="org552f1ca">Initialize the Simulation</h4>
|
||||||
<div class="outline-text-4" id="text-orgdd3adc1">
|
<div class="outline-text-4" id="text-org552f1ca">
|
||||||
<p>
|
<p>
|
||||||
We initialize all the stages with the default parameters.
|
We initialize all the stages with the default parameters.
|
||||||
</p>
|
</p>
|
||||||
@ -1822,9 +1821,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org2b7c7da" class="outline-4">
|
<div id="outline-container-org6dacc19" class="outline-4">
|
||||||
<h4 id="org2b7c7da">Function Description</h4>
|
<h4 id="org6dacc19">Function Description</h4>
|
||||||
<div class="outline-text-4" id="text-org2b7c7da">
|
<div class="outline-text-4" id="text-org6dacc19">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">prepareTomographyExperiment</span>(<span class="org-variable-name">args</span>)
|
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">prepareTomographyExperiment</span>(<span class="org-variable-name">args</span>)
|
||||||
</pre>
|
</pre>
|
||||||
@ -1832,9 +1831,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org6e16103" class="outline-4">
|
<div id="outline-container-org65022a7" class="outline-4">
|
||||||
<h4 id="org6e16103">Optional Parameters</h4>
|
<h4 id="org65022a7">Optional Parameters</h4>
|
||||||
<div class="outline-text-4" id="text-org6e16103">
|
<div class="outline-text-4" id="text-org65022a7">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">arguments
|
<pre class="src src-matlab">arguments
|
||||||
args.nass_actuator char {mustBeMember(args.nass_actuator,{<span class="org-string">'piezo'</span>, <span class="org-string">'lorentz'</span>})} = <span class="org-string">'piezo'</span>
|
args.nass_actuator char {mustBeMember(args.nass_actuator,{<span class="org-string">'piezo'</span>, <span class="org-string">'lorentz'</span>})} = <span class="org-string">'piezo'</span>
|
||||||
@ -1846,9 +1845,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org315e901" class="outline-4">
|
<div id="outline-container-orga0e6a80" class="outline-4">
|
||||||
<h4 id="org315e901">Initialize the Simulation</h4>
|
<h4 id="orga0e6a80">Initialize the Simulation</h4>
|
||||||
<div class="outline-text-4" id="text-org315e901">
|
<div class="outline-text-4" id="text-orga0e6a80">
|
||||||
<p>
|
<p>
|
||||||
We initialize all the stages with the default parameters.
|
We initialize all the stages with the default parameters.
|
||||||
</p>
|
</p>
|
||||||
@ -1916,7 +1915,7 @@ We log the signals.
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<p class="author">Author: Dehaeze Thomas</p>
|
||||||
<p class="date">Created: 2020-02-25 mar. 18:07</p>
|
<p class="date">Created: 2020-02-25 mar. 18:20</p>
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</div><div id="content">
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</div><div id="content">
|
||||||
<h1 class="title">Active Damping with an uni-axial model</h1>
|
<h1 class="title">Active Damping with an uni-axial model</h1>
|
||||||
<div id="table-of-contents">
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||||||
@ -274,63 +273,63 @@ for the JavaScript code in this tag.
|
|||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org7409841">1.1. Init</a></li>
|
<li><a href="#org7409841">1.1. Init</a></li>
|
||||||
<li><a href="#org7514f31">1.2. Identification</a></li>
|
<li><a href="#org7514f31">1.2. Identification</a></li>
|
||||||
<li><a href="#org30a5b37">1.3. Sensitivity to disturbances</a></li>
|
<li><a href="#orgbc3b2d2">1.3. Sensitivity to disturbances</a></li>
|
||||||
<li><a href="#orgdda82c0">1.4. Undamped Plant</a></li>
|
<li><a href="#orgdda82c0">1.4. Undamped Plant</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org5a3389e">2. Integral Force Feedback</a>
|
<li><a href="#org5a3389e">2. Integral Force Feedback</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgf3a80f4">2.1. One degree-of-freedom example</a>
|
<li><a href="#org8fee25f">2.1. One degree-of-freedom example</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgfba4e95">2.1.1. Equations</a></li>
|
<li><a href="#orge4d9f41">2.1.1. Equations</a></li>
|
||||||
<li><a href="#org8487491">2.1.2. Matlab Example</a></li>
|
<li><a href="#org3305ce8">2.1.2. Matlab Example</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgf884e9a">2.2. Control Design</a></li>
|
<li><a href="#orgc2ae0be">2.2. Control Design</a></li>
|
||||||
<li><a href="#org55e3bff">2.3. Identification of the damped plant</a></li>
|
<li><a href="#org6eda033">2.3. Identification of the damped plant</a></li>
|
||||||
<li><a href="#org340a3d7">2.4. Sensitivity to disturbances</a></li>
|
<li><a href="#orgae8bf4a">2.4. Sensitivity to disturbances</a></li>
|
||||||
<li><a href="#orgba948f4">2.5. Damped Plant</a></li>
|
<li><a href="#orgf8558bc">2.5. Damped Plant</a></li>
|
||||||
<li><a href="#org8b5a4f4">2.6. Conclusion</a></li>
|
<li><a href="#org7146202">2.6. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgc4ca1b5">3. Relative Motion Control</a>
|
<li><a href="#orgc4ca1b5">3. Relative Motion Control</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org3a4a38f">3.1. One degree-of-freedom example</a>
|
<li><a href="#orgff968f4">3.1. One degree-of-freedom example</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgc75e93d">3.1.1. Equations</a></li>
|
<li><a href="#orgd5a2de5">3.1.1. Equations</a></li>
|
||||||
<li><a href="#org6772235">3.1.2. Matlab Example</a></li>
|
<li><a href="#orgfebe737">3.1.2. Matlab Example</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgf74b07b">3.2. Control Design</a></li>
|
<li><a href="#orgf3a1477">3.2. Control Design</a></li>
|
||||||
<li><a href="#org2b50744">3.3. Identification of the damped plant</a></li>
|
<li><a href="#org0c94d61">3.3. Identification of the damped plant</a></li>
|
||||||
<li><a href="#orgfe16b4e">3.4. Sensitivity to disturbances</a></li>
|
<li><a href="#orgae7a685">3.4. Sensitivity to disturbances</a></li>
|
||||||
<li><a href="#org1d28b24">3.5. Damped Plant</a></li>
|
<li><a href="#orgb0045d5">3.5. Damped Plant</a></li>
|
||||||
<li><a href="#org69267d0">3.6. Conclusion</a></li>
|
<li><a href="#orgeacd46f">3.6. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org3cc03b0">4. Direct Velocity Feedback</a>
|
<li><a href="#org3cc03b0">4. Direct Velocity Feedback</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org8fee25f">4.1. One degree-of-freedom example</a>
|
<li><a href="#orgb2d2757">4.1. One degree-of-freedom example</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orge4d9f41">4.1.1. Equations</a></li>
|
<li><a href="#org0d13907">4.1.1. Equations</a></li>
|
||||||
<li><a href="#org3305ce8">4.1.2. Matlab Example</a></li>
|
<li><a href="#org5d7b09d">4.1.2. Matlab Example</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgc2ae0be">4.2. Control Design</a></li>
|
<li><a href="#org1fe076f">4.2. Control Design</a></li>
|
||||||
<li><a href="#org6eda033">4.3. Identification of the damped plant</a></li>
|
<li><a href="#orgee6ab5a">4.3. Identification of the damped plant</a></li>
|
||||||
<li><a href="#orgbc3b2d2">4.4. Sensitivity to disturbances</a></li>
|
<li><a href="#org455bb51">4.4. Sensitivity to disturbances</a></li>
|
||||||
<li><a href="#org69d8b1b">4.5. Damped Plant</a></li>
|
<li><a href="#org6d852f5">4.5. Damped Plant</a></li>
|
||||||
<li><a href="#org0fffc79">4.6. Conclusion</a></li>
|
<li><a href="#org5d33a43">4.6. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org21441bc">5. Comparison</a>
|
<li><a href="#org21441bc">5. Comparison</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgbe907b4">5.1. Load the plants</a></li>
|
<li><a href="#orgbe907b4">5.1. Load the plants</a></li>
|
||||||
<li><a href="#orgde6308d">5.2. Sensitivity to Disturbance</a></li>
|
<li><a href="#orgde6308d">5.2. Sensitivity to Disturbance</a></li>
|
||||||
<li><a href="#orgf8558bc">5.3. Damped Plant</a></li>
|
<li><a href="#orgb849304">5.3. Damped Plant</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org7146202">6. Conclusion</a></li>
|
<li><a href="#org333697a">6. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
@ -444,8 +443,8 @@ And we save it for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org30a5b37" class="outline-3">
|
<div id="outline-container-orgbc3b2d2" class="outline-3">
|
||||||
<h3 id="org30a5b37"><span class="section-number-3">1.3</span> Sensitivity to disturbances</h3>
|
<h3 id="orgbc3b2d2"><span class="section-number-3">1.3</span> Sensitivity to disturbances</h3>
|
||||||
<div class="outline-text-3" id="text-1-3">
|
<div class="outline-text-3" id="text-1-3">
|
||||||
<p>
|
<p>
|
||||||
The sensitivity to disturbances are shown on figure <a href="#orgcf7fa15">1</a>.
|
The sensitivity to disturbances are shown on figure <a href="#orgcf7fa15">1</a>.
|
||||||
@ -503,15 +502,15 @@ Then, it is applied on the simscape model.
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
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|
||||||
|
|
||||||
<div id="outline-container-orgf3a80f4" class="outline-3">
|
<div id="outline-container-org8fee25f" class="outline-3">
|
||||||
<h3 id="orgf3a80f4"><span class="section-number-3">2.1</span> One degree-of-freedom example</h3>
|
<h3 id="org8fee25f"><span class="section-number-3">2.1</span> One degree-of-freedom example</h3>
|
||||||
<div class="outline-text-3" id="text-2-1">
|
<div class="outline-text-3" id="text-2-1">
|
||||||
<p>
|
<p>
|
||||||
<a id="org7f37ded"></a>
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
<div id="outline-container-orgfba4e95" class="outline-4">
|
<div id="outline-container-orge4d9f41" class="outline-4">
|
||||||
<h4 id="orgfba4e95"><span class="section-number-4">2.1.1</span> Equations</h4>
|
<h4 id="orge4d9f41"><span class="section-number-4">2.1.1</span> Equations</h4>
|
||||||
<div class="outline-text-4" id="text-2-1-1">
|
<div class="outline-text-4" id="text-2-1-1">
|
||||||
|
|
||||||
<div id="org1acdc30" class="figure">
|
<div id="org1acdc30" class="figure">
|
||||||
@ -577,8 +576,8 @@ This is attainable if we have:
|
|||||||
</div>
|
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|
||||||
</div>
|
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|
||||||
|
|
||||||
<div id="outline-container-org8487491" class="outline-4">
|
<div id="outline-container-org3305ce8" class="outline-4">
|
||||||
<h4 id="org8487491"><span class="section-number-4">2.1.2</span> Matlab Example</h4>
|
<h4 id="org3305ce8"><span class="section-number-4">2.1.2</span> Matlab Example</h4>
|
||||||
<div class="outline-text-4" id="text-2-1-2">
|
<div class="outline-text-4" id="text-2-1-2">
|
||||||
<p>
|
<p>
|
||||||
Let define the system parameters.
|
Let define the system parameters.
|
||||||
@ -641,8 +640,8 @@ And the closed loop system is computed below.
|
|||||||
</div>
|
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|
||||||
</div>
|
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|
||||||
|
|
||||||
<div id="outline-container-orgf884e9a" class="outline-3">
|
<div id="outline-container-orgc2ae0be" class="outline-3">
|
||||||
<h3 id="orgf884e9a"><span class="section-number-3">2.2</span> Control Design</h3>
|
<h3 id="orgc2ae0be"><span class="section-number-3">2.2</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-2-2">
|
<div class="outline-text-3" id="text-2-2">
|
||||||
<p>
|
<p>
|
||||||
Let’s load the undamped plant:
|
Let’s load the undamped plant:
|
||||||
@ -684,8 +683,8 @@ The corresponding loop gains are shown in figure <a href="#org36e3a94">7</a>.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
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|
||||||
|
|
||||||
<div id="outline-container-org55e3bff" class="outline-3">
|
<div id="outline-container-org6eda033" class="outline-3">
|
||||||
<h3 id="org55e3bff"><span class="section-number-3">2.3</span> Identification of the damped plant</h3>
|
<h3 id="org6eda033"><span class="section-number-3">2.3</span> Identification of the damped plant</h3>
|
||||||
<div class="outline-text-3" id="text-2-3">
|
<div class="outline-text-3" id="text-2-3">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -738,8 +737,8 @@ And we save the damped plant for further analysis
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
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|
||||||
|
|
||||||
<div id="outline-container-org340a3d7" class="outline-3">
|
<div id="outline-container-orgae8bf4a" class="outline-3">
|
||||||
<h3 id="org340a3d7"><span class="section-number-3">2.4</span> Sensitivity to disturbances</h3>
|
<h3 id="orgae8bf4a"><span class="section-number-3">2.4</span> Sensitivity to disturbances</h3>
|
||||||
<div class="outline-text-3" id="text-2-4">
|
<div class="outline-text-3" id="text-2-4">
|
||||||
<p>
|
<p>
|
||||||
As shown on figure <a href="#org38217ee">8</a>:
|
As shown on figure <a href="#org38217ee">8</a>:
|
||||||
@ -775,8 +774,8 @@ For instance, the plots are not the same when using <code>minreal</code>.
|
|||||||
</div>
|
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|
||||||
</div>
|
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|
||||||
|
|
||||||
<div id="outline-container-orgba948f4" class="outline-3">
|
<div id="outline-container-orgf8558bc" class="outline-3">
|
||||||
<h3 id="orgba948f4"><span class="section-number-3">2.5</span> Damped Plant</h3>
|
<h3 id="orgf8558bc"><span class="section-number-3">2.5</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-2-5">
|
<div class="outline-text-3" id="text-2-5">
|
||||||
<p>
|
<p>
|
||||||
Now, look at the new damped plant to control.
|
Now, look at the new damped plant to control.
|
||||||
@ -805,8 +804,8 @@ However, it increases coupling at low frequency (figure <a href="#org8017b2f">11
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
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|
||||||
|
|
||||||
<div id="outline-container-org8b5a4f4" class="outline-3">
|
<div id="outline-container-org7146202" class="outline-3">
|
||||||
<h3 id="org8b5a4f4"><span class="section-number-3">2.6</span> Conclusion</h3>
|
<h3 id="org7146202"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-2-6">
|
<div class="outline-text-3" id="text-2-6">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -840,15 +839,15 @@ In the Relative Motion Control (RMC), a derivative feedback is applied between t
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
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|
<div id="outline-container-orgff968f4" class="outline-3">
|
||||||
<h3 id="org3a4a38f"><span class="section-number-3">3.1</span> One degree-of-freedom example</h3>
|
<h3 id="orgff968f4"><span class="section-number-3">3.1</span> One degree-of-freedom example</h3>
|
||||||
<div class="outline-text-3" id="text-3-1">
|
<div class="outline-text-3" id="text-3-1">
|
||||||
<p>
|
<p>
|
||||||
<a id="org6f16e09"></a>
|
<a id="org6f16e09"></a>
|
||||||
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|
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|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgc75e93d" class="outline-4">
|
<div id="outline-container-orgd5a2de5" class="outline-4">
|
||||||
<h4 id="orgc75e93d"><span class="section-number-4">3.1.1</span> Equations</h4>
|
<h4 id="orgd5a2de5"><span class="section-number-4">3.1.1</span> Equations</h4>
|
||||||
<div class="outline-text-4" id="text-3-1-1">
|
<div class="outline-text-4" id="text-3-1-1">
|
||||||
|
|
||||||
<div id="org64900ec" class="figure">
|
<div id="org64900ec" class="figure">
|
||||||
@ -907,8 +906,8 @@ This corresponds to a gain:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org6772235" class="outline-4">
|
<div id="outline-container-orgfebe737" class="outline-4">
|
||||||
<h4 id="org6772235"><span class="section-number-4">3.1.2</span> Matlab Example</h4>
|
<h4 id="orgfebe737"><span class="section-number-4">3.1.2</span> Matlab Example</h4>
|
||||||
<div class="outline-text-4" id="text-3-1-2">
|
<div class="outline-text-4" id="text-3-1-2">
|
||||||
<p>
|
<p>
|
||||||
Let define the system parameters.
|
Let define the system parameters.
|
||||||
@ -971,8 +970,8 @@ And the closed loop system is computed below.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgf74b07b" class="outline-3">
|
<div id="outline-container-orgf3a1477" class="outline-3">
|
||||||
<h3 id="orgf74b07b"><span class="section-number-3">3.2</span> Control Design</h3>
|
<h3 id="orgf3a1477"><span class="section-number-3">3.2</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-3-2">
|
<div class="outline-text-3" id="text-3-2">
|
||||||
<p>
|
<p>
|
||||||
Let’s load the undamped plant:
|
Let’s load the undamped plant:
|
||||||
@ -1015,8 +1014,8 @@ The obtained loop gains are shown in figure <a href="#orga5b8f12">15</a>.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org2b50744" class="outline-3">
|
<div id="outline-container-org0c94d61" class="outline-3">
|
||||||
<h3 id="org2b50744"><span class="section-number-3">3.3</span> Identification of the damped plant</h3>
|
<h3 id="org0c94d61"><span class="section-number-3">3.3</span> Identification of the damped plant</h3>
|
||||||
<div class="outline-text-3" id="text-3-3">
|
<div class="outline-text-3" id="text-3-3">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -1069,8 +1068,8 @@ And we save the damped plant for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgfe16b4e" class="outline-3">
|
<div id="outline-container-orgae7a685" class="outline-3">
|
||||||
<h3 id="orgfe16b4e"><span class="section-number-3">3.4</span> Sensitivity to disturbances</h3>
|
<h3 id="orgae7a685"><span class="section-number-3">3.4</span> Sensitivity to disturbances</h3>
|
||||||
<div class="outline-text-3" id="text-3-4">
|
<div class="outline-text-3" id="text-3-4">
|
||||||
<p>
|
<p>
|
||||||
As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering the sensitivity to disturbances near resonance of the system.
|
As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering the sensitivity to disturbances near resonance of the system.
|
||||||
@ -1092,8 +1091,8 @@ As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org1d28b24" class="outline-3">
|
<div id="outline-container-orgb0045d5" class="outline-3">
|
||||||
<h3 id="org1d28b24"><span class="section-number-3">3.5</span> Damped Plant</h3>
|
<h3 id="orgb0045d5"><span class="section-number-3">3.5</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-3-5">
|
<div class="outline-text-3" id="text-3-5">
|
||||||
|
|
||||||
<div id="org2267bd4" class="figure">
|
<div id="org2267bd4" class="figure">
|
||||||
@ -1104,8 +1103,8 @@ As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org69267d0" class="outline-3">
|
<div id="outline-container-orgeacd46f" class="outline-3">
|
||||||
<h3 id="org69267d0"><span class="section-number-3">3.6</span> Conclusion</h3>
|
<h3 id="orgeacd46f"><span class="section-number-3">3.6</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-3-6">
|
<div class="outline-text-3" id="text-3-6">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1137,15 +1136,15 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org8fee25f" class="outline-3">
|
<div id="outline-container-orgb2d2757" class="outline-3">
|
||||||
<h3 id="org8fee25f"><span class="section-number-3">4.1</span> One degree-of-freedom example</h3>
|
<h3 id="orgb2d2757"><span class="section-number-3">4.1</span> One degree-of-freedom example</h3>
|
||||||
<div class="outline-text-3" id="text-4-1">
|
<div class="outline-text-3" id="text-4-1">
|
||||||
<p>
|
<p>
|
||||||
<a id="org3a699cb"></a>
|
<a id="org3a699cb"></a>
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orge4d9f41" class="outline-4">
|
<div id="outline-container-org0d13907" class="outline-4">
|
||||||
<h4 id="orge4d9f41"><span class="section-number-4">4.1.1</span> Equations</h4>
|
<h4 id="org0d13907"><span class="section-number-4">4.1.1</span> Equations</h4>
|
||||||
<div class="outline-text-4" id="text-4-1-1">
|
<div class="outline-text-4" id="text-4-1-1">
|
||||||
|
|
||||||
<div id="org93ae6e4" class="figure">
|
<div id="org93ae6e4" class="figure">
|
||||||
@ -1204,8 +1203,8 @@ This corresponds to a gain:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org3305ce8" class="outline-4">
|
<div id="outline-container-org5d7b09d" class="outline-4">
|
||||||
<h4 id="org3305ce8"><span class="section-number-4">4.1.2</span> Matlab Example</h4>
|
<h4 id="org5d7b09d"><span class="section-number-4">4.1.2</span> Matlab Example</h4>
|
||||||
<div class="outline-text-4" id="text-4-1-2">
|
<div class="outline-text-4" id="text-4-1-2">
|
||||||
<p>
|
<p>
|
||||||
Let define the system parameters.
|
Let define the system parameters.
|
||||||
@ -1292,8 +1291,8 @@ The obtained sensitivity to disturbances is shown in figure <a href="#org1c3277a
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgc2ae0be" class="outline-3">
|
<div id="outline-container-org1fe076f" class="outline-3">
|
||||||
<h3 id="orgc2ae0be"><span class="section-number-3">4.2</span> Control Design</h3>
|
<h3 id="org1fe076f"><span class="section-number-3">4.2</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-4-2">
|
<div class="outline-text-3" id="text-4-2">
|
||||||
<p>
|
<p>
|
||||||
Let’s load the undamped plant:
|
Let’s load the undamped plant:
|
||||||
@ -1332,8 +1331,8 @@ The controller is defined below and the obtained loop gain is shown in figure <a
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org6eda033" class="outline-3">
|
<div id="outline-container-orgee6ab5a" class="outline-3">
|
||||||
<h3 id="org6eda033"><span class="section-number-3">4.3</span> Identification of the damped plant</h3>
|
<h3 id="orgee6ab5a"><span class="section-number-3">4.3</span> Identification of the damped plant</h3>
|
||||||
<div class="outline-text-3" id="text-4-3">
|
<div class="outline-text-3" id="text-4-3">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -1386,8 +1385,8 @@ And we save the damped plant for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgbc3b2d2" class="outline-3">
|
<div id="outline-container-org455bb51" class="outline-3">
|
||||||
<h3 id="orgbc3b2d2"><span class="section-number-3">4.4</span> Sensitivity to disturbances</h3>
|
<h3 id="org455bb51"><span class="section-number-3">4.4</span> Sensitivity to disturbances</h3>
|
||||||
<div class="outline-text-3" id="text-4-4">
|
<div class="outline-text-3" id="text-4-4">
|
||||||
|
|
||||||
<div id="org2558226" class="figure">
|
<div id="org2558226" class="figure">
|
||||||
@ -1406,8 +1405,8 @@ And we save the damped plant for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org69d8b1b" class="outline-3">
|
<div id="outline-container-org6d852f5" class="outline-3">
|
||||||
<h3 id="org69d8b1b"><span class="section-number-3">4.5</span> Damped Plant</h3>
|
<h3 id="org6d852f5"><span class="section-number-3">4.5</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-4-5">
|
<div class="outline-text-3" id="text-4-5">
|
||||||
|
|
||||||
<div id="org2fa3671" class="figure">
|
<div id="org2fa3671" class="figure">
|
||||||
@ -1418,8 +1417,8 @@ And we save the damped plant for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org0fffc79" class="outline-3">
|
<div id="outline-container-org5d33a43" class="outline-3">
|
||||||
<h3 id="org0fffc79"><span class="section-number-3">4.6</span> Conclusion</h3>
|
<h3 id="org5d33a43"><span class="section-number-3">4.6</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-4-6">
|
<div class="outline-text-3" id="text-4-6">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1490,8 +1489,8 @@ Direct Velocity Feedback:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgf8558bc" class="outline-3">
|
<div id="outline-container-orgb849304" class="outline-3">
|
||||||
<h3 id="orgf8558bc"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
<h3 id="orgb849304"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-5-3">
|
<div class="outline-text-3" id="text-5-3">
|
||||||
|
|
||||||
<div id="org043ecf3" class="figure">
|
<div id="org043ecf3" class="figure">
|
||||||
@ -1517,8 +1516,8 @@ Direct Velocity Feedback:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org7146202" class="outline-2">
|
<div id="outline-container-org333697a" class="outline-2">
|
||||||
<h2 id="org7146202"><span class="section-number-2">6</span> Conclusion</h2>
|
<h2 id="org333697a"><span class="section-number-2">6</span> Conclusion</h2>
|
||||||
<div class="outline-text-2" id="text-6">
|
<div class="outline-text-2" id="text-6">
|
||||||
<p>
|
<p>
|
||||||
<a id="org58549a4"></a>
|
<a id="org58549a4"></a>
|
||||||
@ -1528,7 +1527,7 @@ Direct Velocity Feedback:
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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. 18:21</p>
|
||||||
</div>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<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 http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Control of the NASS</title>
|
<title>Control of the NASS</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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||||||
<script type="text/javascript" src="../js/jquery.min.js"></script>
|
<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/bootstrap.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/jquery.stickytableheaders.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" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -251,15 +250,15 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Control of the NASS</h1>
|
<h1 class="title">Control of the NASS</h1>
|
||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<head>
|
||||||
<!-- 2020-02-25 mar. 18:08 -->
|
<!-- 2020-02-25 mar. 18:21 -->
|
||||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Identification of the disturbances</title>
|
<title>Identification of the disturbances</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<script type="text/javascript">
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<script type="text/javascript">
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/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -261,9 +260,9 @@ for the JavaScript code in this tag.
|
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</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<div id="org-div-home-and-up">
|
||||||
<a accesskey="h" href="../index.html"> UP </a>
|
<a accesskey="h" href="./index.html"> UP </a>
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<a accesskey="H" href="../index.html"> HOME </a>
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<a accesskey="H" href="./index.html"> HOME </a>
|
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</div><div id="content">
|
</div><div id="content">
|
||||||
<h1 class="title">Identification of the disturbances</h1>
|
<h1 class="title">Identification of the disturbances</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -592,7 +591,7 @@ save(<span class="org-string">'./disturbances/mat/dist_psd.mat'</span>, <span cl
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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. 18:21</p>
|
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|
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|
||||||
</body>
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||||||
</html>
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|||||||
@ -1,11 +1,10 @@
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|||||||
<?xml version="1.0" encoding="utf-8"?>
|
<?xml version="1.0" encoding="utf-8"?>
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||||||
<?xml version="1.0" encoding="utf-8"?>
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<?xml version="1.0" encoding="utf-8"?>
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||||||
<?xml version="1.0" encoding="utf-8"?>
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||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
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<head>
|
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<!-- 2020-02-25 mar. 18:08 -->
|
<!-- 2020-02-25 mar. 18:21 -->
|
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
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<title>Tomography Experiment</title>
|
<title>Tomography Experiment</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<script type="text/javascript">
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<script type="text/javascript">
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/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -251,9 +250,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<div id="org-div-home-and-up">
|
||||||
<a accesskey="h" href="../index.html"> UP </a>
|
<a accesskey="h" href="./index.html"> UP </a>
|
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|
|
|
|
||||||
<a accesskey="H" href="../index.html"> HOME </a>
|
<a accesskey="H" href="./index.html"> HOME </a>
|
||||||
</div><div id="content">
|
</div><div id="content">
|
||||||
<h1 class="title">Tomography Experiment</h1>
|
<h1 class="title">Tomography Experiment</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -263,30 +262,30 @@ for the JavaScript code in this tag.
|
|||||||
<li><a href="#org03b2a76">1. Simscape Model</a></li>
|
<li><a href="#org03b2a76">1. Simscape Model</a></li>
|
||||||
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
|
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgc1321b7">2.1. Simulation Setup</a></li>
|
<li><a href="#org5778305">2.1. Simulation Setup</a></li>
|
||||||
<li><a href="#orgebeb6c3">2.2. Analysis</a></li>
|
<li><a href="#org3f73a44">2.2. Analysis</a></li>
|
||||||
<li><a href="#orge9a06c9">2.3. Conclusion</a></li>
|
<li><a href="#org67ff024">2.3. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
|
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgc6ab502">3.1. Simulation Setup</a></li>
|
<li><a href="#orgc064b4d">3.1. Simulation Setup</a></li>
|
||||||
<li><a href="#orga551571">3.2. Analysis</a></li>
|
<li><a href="#org35d72fe">3.2. Analysis</a></li>
|
||||||
<li><a href="#org3eee8bd">3.3. Conclusion</a></li>
|
<li><a href="#org1f14bc2">3.3. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
|
<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orga42880e">4.1. Simulation Setup</a></li>
|
<li><a href="#org0fe7352">4.1. Simulation Setup</a></li>
|
||||||
<li><a href="#org58e1909">4.2. Analysis</a></li>
|
<li><a href="#org3fda1a5">4.2. Analysis</a></li>
|
||||||
<li><a href="#org4670aba">4.3. Conclusion</a></li>
|
<li><a href="#org5042570">4.3. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
|
<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org5778305">5.1. Simulation Setup</a></li>
|
<li><a href="#org8a2f4a2">5.1. Simulation Setup</a></li>
|
||||||
<li><a href="#org3f73a44">5.2. Analysis</a></li>
|
<li><a href="#org55d191f">5.2. Analysis</a></li>
|
||||||
<li><a href="#org67ff024">5.3. Conclusion</a></li>
|
<li><a href="#orgae2c5b3">5.3. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
@ -373,8 +372,8 @@ All stage is set to its zero position except the Spindle which is rotating at 60
|
|||||||
<a id="org3effbb8"></a>
|
<a id="org3effbb8"></a>
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgc1321b7" class="outline-3">
|
<div id="outline-container-org5778305" class="outline-3">
|
||||||
<h3 id="orgc1321b7"><span class="section-number-3">2.1</span> Simulation Setup</h3>
|
<h3 id="org5778305"><span class="section-number-3">2.1</span> Simulation Setup</h3>
|
||||||
<div class="outline-text-3" id="text-2-1">
|
<div class="outline-text-3" id="text-2-1">
|
||||||
<p>
|
<p>
|
||||||
And we initialize the disturbances to be equal to zero.
|
And we initialize the disturbances to be equal to zero.
|
||||||
@ -410,8 +409,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgebeb6c3" class="outline-3">
|
<div id="outline-container-org3f73a44" class="outline-3">
|
||||||
<h3 id="orgebeb6c3"><span class="section-number-3">2.2</span> Analysis</h3>
|
<h3 id="org3f73a44"><span class="section-number-3">2.2</span> Analysis</h3>
|
||||||
<div class="outline-text-3" id="text-2-2">
|
<div class="outline-text-3" id="text-2-2">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
|
||||||
@ -447,8 +446,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orge9a06c9" class="outline-3">
|
<div id="outline-container-org67ff024" class="outline-3">
|
||||||
<h3 id="orge9a06c9"><span class="section-number-3">2.3</span> Conclusion</h3>
|
<h3 id="org67ff024"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-2-3">
|
<div class="outline-text-3" id="text-2-3">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -468,8 +467,8 @@ This residual error motion probably comes from a small misalignment somewhere.
|
|||||||
<a id="org4e7f626"></a>
|
<a id="org4e7f626"></a>
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgc6ab502" class="outline-3">
|
<div id="outline-container-orgc064b4d" class="outline-3">
|
||||||
<h3 id="orgc6ab502"><span class="section-number-3">3.1</span> Simulation Setup</h3>
|
<h3 id="orgc064b4d"><span class="section-number-3">3.1</span> Simulation Setup</h3>
|
||||||
<div class="outline-text-3" id="text-3-1">
|
<div class="outline-text-3" id="text-3-1">
|
||||||
<p>
|
<p>
|
||||||
We now activate the disturbances.
|
We now activate the disturbances.
|
||||||
@ -505,8 +504,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orga551571" class="outline-3">
|
<div id="outline-container-org35d72fe" class="outline-3">
|
||||||
<h3 id="orga551571"><span class="section-number-3">3.2</span> Analysis</h3>
|
<h3 id="org35d72fe"><span class="section-number-3">3.2</span> Analysis</h3>
|
||||||
<div class="outline-text-3" id="text-3-2">
|
<div class="outline-text-3" id="text-3-2">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
|
||||||
@ -542,8 +541,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org3eee8bd" class="outline-3">
|
<div id="outline-container-org1f14bc2" class="outline-3">
|
||||||
<h3 id="org3eee8bd"><span class="section-number-3">3.3</span> Conclusion</h3>
|
<h3 id="org1f14bc2"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-3-3">
|
<div class="outline-text-3" id="text-3-3">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -562,8 +561,8 @@ Error motion is what expected from the disturbance measurements.
|
|||||||
<a id="orgb31e3fb"></a>
|
<a id="orgb31e3fb"></a>
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orga42880e" class="outline-3">
|
<div id="outline-container-org0fe7352" class="outline-3">
|
||||||
<h3 id="orga42880e"><span class="section-number-3">4.1</span> Simulation Setup</h3>
|
<h3 id="org0fe7352"><span class="section-number-3">4.1</span> Simulation Setup</h3>
|
||||||
<div class="outline-text-3" id="text-4-1">
|
<div class="outline-text-3" id="text-4-1">
|
||||||
<p>
|
<p>
|
||||||
We first set the wanted translation of the Micro Hexapod.
|
We first set the wanted translation of the Micro Hexapod.
|
||||||
@ -623,8 +622,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org58e1909" class="outline-3">
|
<div id="outline-container-org3fda1a5" class="outline-3">
|
||||||
<h3 id="org58e1909"><span class="section-number-3">4.2</span> Analysis</h3>
|
<h3 id="org3fda1a5"><span class="section-number-3">4.2</span> Analysis</h3>
|
||||||
<div class="outline-text-3" id="text-4-2">
|
<div class="outline-text-3" id="text-4-2">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_not_align'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_not_align'</span>);
|
||||||
@ -660,8 +659,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org4670aba" class="outline-3">
|
<div id="outline-container-org5042570" class="outline-3">
|
||||||
<h3 id="org4670aba"><span class="section-number-3">4.3</span> Conclusion</h3>
|
<h3 id="org5042570"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-4-3">
|
<div class="outline-text-3" id="text-4-3">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -680,8 +679,8 @@ The main motions are translations in the X direction of the mobile platform (cor
|
|||||||
<a id="org6aaeb53"></a>
|
<a id="org6aaeb53"></a>
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org5778305" class="outline-3">
|
<div id="outline-container-org8a2f4a2" class="outline-3">
|
||||||
<h3 id="org5778305"><span class="section-number-3">5.1</span> Simulation Setup</h3>
|
<h3 id="org8a2f4a2"><span class="section-number-3">5.1</span> Simulation Setup</h3>
|
||||||
<div class="outline-text-3" id="text-5-1">
|
<div class="outline-text-3" id="text-5-1">
|
||||||
<p>
|
<p>
|
||||||
We set the reference path.
|
We set the reference path.
|
||||||
@ -742,8 +741,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org3f73a44" class="outline-3">
|
<div id="outline-container-org55d191f" class="outline-3">
|
||||||
<h3 id="org3f73a44"><span class="section-number-3">5.2</span> Analysis</h3>
|
<h3 id="org55d191f"><span class="section-number-3">5.2</span> Analysis</h3>
|
||||||
<div class="outline-text-3" id="text-5-2">
|
<div class="outline-text-3" id="text-5-2">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'ty_scan'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'ty_scan'</span>);
|
||||||
@ -779,8 +778,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org67ff024" class="outline-3">
|
<div id="outline-container-orgae2c5b3" class="outline-3">
|
||||||
<h3 id="org67ff024"><span class="section-number-3">5.3</span> Conclusion</h3>
|
<h3 id="orgae2c5b3"><span class="section-number-3">5.3</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-5-3">
|
<div class="outline-text-3" id="text-5-3">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -795,7 +794,7 @@ In order to reduce the errors, we can make a smoother reference path for the tra
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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. 18:21</p>
|
||||||
</div>
|
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|
||||||
</body>
|
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|
||||||
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|
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|
||||||
|
|||||||
@ -1,11 +1,10 @@
|
|||||||
<?xml version="1.0" encoding="utf-8"?>
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<?xml version="1.0" encoding="utf-8"?>
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<?xml version="1.0" encoding="utf-8"?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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|
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|
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|
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<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Matlab Functions used for the NASS Project</title>
|
<title>Matlab Functions used for the NASS Project</title>
|
||||||
@ -195,13 +194,13 @@
|
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.org-svg { width: 90%; }
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.org-svg { width: 90%; }
|
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/*]]>*/-->
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|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
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<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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||||||
<script type="text/javascript" src="../js/jquery.min.js"></script>
|
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/bootstrap.min.js"></script>
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<script type="text/javascript" src="./js/bootstrap.min.js"></script>
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||||||
<script type="text/javascript" src="../js/jquery.stickytableheaders.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" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -251,9 +250,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Matlab Functions used for the NASS Project</h1>
|
<h1 class="title">Matlab Functions used for the NASS Project</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -659,7 +658,7 @@ MTr = [WTm(1<span class="org-type">:</span>3,1<span class="org-type">:</span>3)<
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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>
|
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</html>
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|
|||||||
@ -1,11 +1,10 @@
|
|||||||
<?xml version="1.0" encoding="utf-8"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
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<?xml version="1.0" encoding="utf-8"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
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<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<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 http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>HAC-LAC applied on the Simscape Model</title>
|
<title>HAC-LAC applied on the Simscape Model</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
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<script type="text/javascript" src="../js/jquery.min.js"></script>
|
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
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<script type="text/javascript" src="../js/bootstrap.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/jquery.stickytableheaders.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -251,9 +250,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">HAC-LAC applied on the Simscape Model</h1>
|
<h1 class="title">HAC-LAC applied on the Simscape Model</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -264,10 +263,10 @@ for the JavaScript code in this tag.
|
|||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org05b902d">1.1. Identification of the plant</a>
|
<li><a href="#org05b902d">1.1. Identification of the plant</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgfd2208d">1.1.1. Initialize the Simulation</a></li>
|
<li><a href="#orga716982">1.1.1. Initialize the Simulation</a></li>
|
||||||
<li><a href="#orgd132773">1.1.2. Identification</a></li>
|
<li><a href="#org2a3d76d">1.1.2. Identification</a></li>
|
||||||
<li><a href="#org9d87e76">1.1.3. Display TF</a></li>
|
<li><a href="#org86a6b3a">1.1.3. Display TF</a></li>
|
||||||
<li><a href="#org5c51ae8">1.1.4. Obtained Plants for Active Damping</a></li>
|
<li><a href="#org51e23f6">1.1.4. Obtained Plants for Active Damping</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgaf40de5">1.2. Tomography Experiment</a>
|
<li><a href="#orgaf40de5">1.2. Tomography Experiment</a>
|
||||||
@ -278,10 +277,10 @@ for the JavaScript code in this tag.
|
|||||||
</li>
|
</li>
|
||||||
<li><a href="#orgdcbab01">1.3. Verification of the transfer function from nano hexapod to metrology</a>
|
<li><a href="#orgdcbab01">1.3. Verification of the transfer function from nano hexapod to metrology</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orga716982">1.3.1. Initialize the Simulation</a></li>
|
<li><a href="#org9edf24c">1.3.1. Initialize the Simulation</a></li>
|
||||||
<li><a href="#org2a3d76d">1.3.2. Identification</a></li>
|
<li><a href="#org9ff767e">1.3.2. Identification</a></li>
|
||||||
<li><a href="#org86a6b3a">1.3.3. Display TF</a></li>
|
<li><a href="#org5c0b9bf">1.3.3. Display TF</a></li>
|
||||||
<li><a href="#org51e23f6">1.3.4. Obtained Plants for Active Damping</a></li>
|
<li><a href="#org6288fb1">1.3.4. Obtained Plants for Active Damping</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</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>
|
<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 class="outline-text-3" id="text-1-1">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgfd2208d" class="outline-4">
|
<div id="outline-container-orga716982" class="outline-4">
|
||||||
<h4 id="orgfd2208d"><span class="section-number-4">1.1.1</span> Initialize the Simulation</h4>
|
<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">
|
<div class="outline-text-4" id="text-1-1-1">
|
||||||
<p>
|
<p>
|
||||||
We initialize all the stages with the default parameters.
|
We initialize all the stages with the default parameters.
|
||||||
@ -355,8 +354,8 @@ And all the controllers are set to 0.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgd132773" class="outline-4">
|
<div id="outline-container-org2a3d76d" class="outline-4">
|
||||||
<h4 id="orgd132773"><span class="section-number-4">1.1.2</span> Identification</h4>
|
<h4 id="org2a3d76d"><span class="section-number-4">1.1.2</span> Identification</h4>
|
||||||
<div class="outline-text-4" id="text-1-1-2">
|
<div class="outline-text-4" id="text-1-1-2">
|
||||||
<p>
|
<p>
|
||||||
First, we identify the dynamics of the system using the <code>linearize</code> function.
|
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>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org9d87e76" class="outline-4">
|
<div id="outline-container-org86a6b3a" class="outline-4">
|
||||||
<h4 id="org9d87e76"><span class="section-number-4">1.1.3</span> Display TF</h4>
|
<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 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><img src="figs/plant_G_cart.png" alt="plant_G_cart.png" />
|
||||||
</p>
|
</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>
|
<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>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org5c51ae8" class="outline-4">
|
<div id="outline-container-org51e23f6" class="outline-4">
|
||||||
<h4 id="org5c51ae8"><span class="section-number-4">1.1.4</span> Obtained Plants for Active Damping</h4>
|
<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 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><img src="figs/nass_active_damping_iff_plant.png" alt="nass_active_damping_iff_plant.png" />
|
||||||
</p>
|
</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>
|
<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>
|
||||||
|
|
||||||
|
|
||||||
<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><img src="figs/nass_active_damping_ine_plant.png" alt="nass_active_damping_ine_plant.png" />
|
||||||
</p>
|
</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>
|
<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>
|
||||||
|
|
||||||
|
|
||||||
<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><img src="figs/nass_active_damping_inertial_plant.png" alt="nass_active_damping_inertial_plant.png" />
|
||||||
</p>
|
</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>
|
<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>
|
<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 class="outline-text-3" id="text-1-3">
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orga716982" class="outline-4">
|
<div id="outline-container-org9edf24c" class="outline-4">
|
||||||
<h4 id="orga716982"><span class="section-number-4">1.3.1</span> Initialize the Simulation</h4>
|
<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">
|
<div class="outline-text-4" id="text-1-3-1">
|
||||||
<p>
|
<p>
|
||||||
We initialize all the stages with the default parameters.
|
We initialize all the stages with the default parameters.
|
||||||
@ -563,8 +562,8 @@ And all the controllers are set to 0.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org2a3d76d" class="outline-4">
|
<div id="outline-container-org9ff767e" class="outline-4">
|
||||||
<h4 id="org2a3d76d"><span class="section-number-4">1.3.2</span> Identification</h4>
|
<h4 id="org9ff767e"><span class="section-number-4">1.3.2</span> Identification</h4>
|
||||||
<div class="outline-text-4" id="text-1-3-2">
|
<div class="outline-text-4" id="text-1-3-2">
|
||||||
<p>
|
<p>
|
||||||
First, we identify the dynamics of the system using the <code>linearize</code> function.
|
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>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org86a6b3a" class="outline-4">
|
<div id="outline-container-org5c0b9bf" class="outline-4">
|
||||||
<h4 id="org86a6b3a"><span class="section-number-4">1.3.3</span> Display TF</h4>
|
<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 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><img src="figs/plant_G_cart.png" alt="plant_G_cart.png" />
|
||||||
</p>
|
</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>
|
<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>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org51e23f6" class="outline-4">
|
<div id="outline-container-org6288fb1" class="outline-4">
|
||||||
<h4 id="org51e23f6"><span class="section-number-4">1.3.4</span> Obtained Plants for Active Damping</h4>
|
<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 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><img src="figs/nass_active_damping_iff_plant.png" alt="nass_active_damping_iff_plant.png" />
|
||||||
</p>
|
</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>
|
<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>
|
||||||
|
|
||||||
|
|
||||||
<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><img src="figs/nass_active_damping_ine_plant.png" alt="nass_active_damping_ine_plant.png" />
|
||||||
</p>
|
</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>
|
<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>
|
||||||
|
|
||||||
|
|
||||||
<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><img src="figs/nass_active_damping_inertial_plant.png" alt="nass_active_damping_inertial_plant.png" />
|
||||||
</p>
|
</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>
|
<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>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<head>
|
||||||
<!-- 2020-02-25 mar. 18:07 -->
|
<!-- 2020-02-25 mar. 18:20 -->
|
||||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Identification</title>
|
<title>Identification</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.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/jquery.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/bootstrap.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/jquery.stickytableheaders.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -261,9 +260,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Identification</h1>
|
<h1 class="title">Identification</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -770,7 +769,7 @@ For such a complex system, we believe that the Simscape Model represents the dyn
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<p class="author">Author: Dehaeze Thomas</p>
|
||||||
<p class="date">Created: 2020-02-25 mar. 18:07</p>
|
<p class="date">Created: 2020-02-25 mar. 18:20</p>
|
||||||
</div>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<head>
|
||||||
<!-- 2020-02-25 mar. 18:07 -->
|
<!-- 2020-02-25 mar. 18:20 -->
|
||||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Kinematics of the station</title>
|
<title>Kinematics of the station</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.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/jquery.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/bootstrap.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/jquery.stickytableheaders.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -261,9 +260,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Kinematics of the station</h1>
|
<h1 class="title">Kinematics of the station</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -595,7 +594,7 @@ And we verify that we indeed succeed to go to the wanted position.
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<p class="author">Author: Dehaeze Thomas</p>
|
||||||
<p class="date">Created: 2020-02-25 mar. 18:07</p>
|
<p class="date">Created: 2020-02-25 mar. 18:20</p>
|
||||||
</div>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<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 http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Computation of the Positioning Error with respect to the nano-hexapod</title>
|
<title>Computation of the Positioning Error with respect to the nano-hexapod</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.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/jquery.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/bootstrap.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/jquery.stickytableheaders.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -261,9 +260,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Computation of the Positioning Error with respect to the nano-hexapod</h1>
|
<h1 class="title">Computation of the Positioning Error with respect to the nano-hexapod</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -273,17 +272,17 @@ for the JavaScript code in this tag.
|
|||||||
<li><a href="#orgf8376ef">1. How do we measure the position of the sample with respect to the granite</a></li>
|
<li><a href="#orgf8376ef">1. How do we measure the position of the sample with respect to the granite</a></li>
|
||||||
<li><a href="#orgb3d760a">2. Verify that the function to compute the reference pose is correct</a>
|
<li><a href="#orgb3d760a">2. Verify that the function to compute the reference pose is correct</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgffeb030">2.1. Prepare the Simulation</a></li>
|
<li><a href="#org5c3ae81">2.1. Prepare the Simulation</a></li>
|
||||||
<li><a href="#orgd2fa379">2.2. Verify that the pose of the sample is the same as the computed one</a></li>
|
<li><a href="#orgd2fa379">2.2. Verify that the pose of the sample is the same as the computed one</a></li>
|
||||||
<li><a href="#orgc56cbe3">2.3. Conclusion</a></li>
|
<li><a href="#org00066db">2.3. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgf6fa84d">3. Verify that the function to convert the position error in the frame fixed to the nano-hexapod is working</a>
|
<li><a href="#orgf6fa84d">3. Verify that the function to convert the position error in the frame fixed to the nano-hexapod is working</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org5c3ae81">3.1. Prepare the Simulation</a></li>
|
<li><a href="#org4efa9f2">3.1. Prepare the Simulation</a></li>
|
||||||
<li><a href="#org4e6a2dc">3.2. Compute the wanted pose of the sample in the NASS Base from the metrology and the reference</a></li>
|
<li><a href="#org4e6a2dc">3.2. Compute the wanted pose of the sample in the NASS Base from the metrology and the reference</a></li>
|
||||||
<li><a href="#orga048dbb">3.3. Verify that be imposing the error motion on the nano-hexapod, we indeed have zero error at the end</a></li>
|
<li><a href="#orga048dbb">3.3. Verify that be imposing the error motion on the nano-hexapod, we indeed have zero error at the end</a></li>
|
||||||
<li><a href="#org00066db">3.4. Conclusion</a></li>
|
<li><a href="#orga90edfe">3.4. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
@ -371,8 +370,8 @@ We can then determine extract other orientation conventions such that Euler angl
|
|||||||
The goal here is to perfectly move the station and verify that there is no mismatch between the metrology measurement and the computation of the reference pose.
|
The goal here is to perfectly move the station and verify that there is no mismatch between the metrology measurement and the computation of the reference pose.
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgffeb030" class="outline-3">
|
<div id="outline-container-org5c3ae81" class="outline-3">
|
||||||
<h3 id="orgffeb030"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
|
<h3 id="org5c3ae81"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
|
||||||
<div class="outline-text-3" id="text-2-1">
|
<div class="outline-text-3" id="text-2-1">
|
||||||
<p>
|
<p>
|
||||||
We set a small <code>StopTime</code>.
|
We set a small <code>StopTime</code>.
|
||||||
@ -542,8 +541,8 @@ ans =
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgc56cbe3" class="outline-3">
|
<div id="outline-container-org00066db" class="outline-3">
|
||||||
<h3 id="orgc56cbe3"><span class="section-number-3">2.3</span> Conclusion</h3>
|
<h3 id="org00066db"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-2-3">
|
<div class="outline-text-3" id="text-2-3">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -571,8 +570,8 @@ This will induce a global positioning error of the sample with respect to the de
|
|||||||
We want to verify that we are able to measure this positioning error and convert it in the frame attached to the Nano-hexapod.
|
We want to verify that we are able to measure this positioning error and convert it in the frame attached to the Nano-hexapod.
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org5c3ae81" class="outline-3">
|
<div id="outline-container-org4efa9f2" class="outline-3">
|
||||||
<h3 id="org5c3ae81"><span class="section-number-3">3.1</span> Prepare the Simulation</h3>
|
<h3 id="org4efa9f2"><span class="section-number-3">3.1</span> Prepare the Simulation</h3>
|
||||||
<div class="outline-text-3" id="text-3-1">
|
<div class="outline-text-3" id="text-3-1">
|
||||||
<p>
|
<p>
|
||||||
We set a small <code>StopTime</code>.
|
We set a small <code>StopTime</code>.
|
||||||
@ -896,8 +895,8 @@ Verify that the pose error is small.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org00066db" class="outline-3">
|
<div id="outline-container-orga90edfe" class="outline-3">
|
||||||
<h3 id="org00066db"><span class="section-number-3">3.4</span> Conclusion</h3>
|
<h3 id="orga90edfe"><span class="section-number-3">3.4</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-3-4">
|
<div class="outline-text-3" id="text-3-4">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -911,7 +910,7 @@ Indeed, we are able to convert the position error in the frame of the NASS and t
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<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 http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Simscape Model</title>
|
<title>Simscape Model</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.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/jquery.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/bootstrap.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/jquery.stickytableheaders.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -251,9 +250,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Simscape Model</h1>
|
<h1 class="title">Simscape Model</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -776,7 +775,7 @@ Internal force, acting reciprocally between base and following origins is implem
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<head>
|
||||||
<!-- 2020-02-25 mar. 18:08 -->
|
<!-- 2020-02-25 mar. 18:21 -->
|
||||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Simulink Project for the NASS</title>
|
<title>Simulink Project for the NASS</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.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/jquery.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/bootstrap.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/jquery.stickytableheaders.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -251,9 +250,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Simulink Project for the NASS</h1>
|
<h1 class="title">Simulink Project for the NASS</h1>
|
||||||
|
|
||||||
@ -323,7 +322,7 @@ The project also permits to automatically add defined folder to the path when th
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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. 18:21</p>
|
||||||
</div>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<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 http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||||
<title>Simscape Uniaxial Model</title>
|
<title>Simscape Uniaxial Model</title>
|
||||||
@ -195,13 +194,13 @@
|
|||||||
.org-svg { width: 90%; }
|
.org-svg { width: 90%; }
|
||||||
/*]]>*/-->
|
/*]]>*/-->
|
||||||
</style>
|
</style>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
<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/readtheorg.css"/>
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.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/jquery.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/bootstrap.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/jquery.stickytableheaders.min.js"></script>
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
<script type="text/javascript">
|
<script type="text/javascript">
|
||||||
/*
|
/*
|
||||||
@licstart The following is the entire license notice for the
|
@licstart The following is the entire license notice for the
|
||||||
@ -261,9 +260,9 @@ for the JavaScript code in this tag.
|
|||||||
</head>
|
</head>
|
||||||
<body>
|
<body>
|
||||||
<div id="org-div-home-and-up">
|
<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">
|
</div><div id="content">
|
||||||
<h1 class="title">Simscape Uniaxial Model</h1>
|
<h1 class="title">Simscape Uniaxial Model</h1>
|
||||||
<div id="table-of-contents">
|
<div id="table-of-contents">
|
||||||
@ -273,69 +272,69 @@ for the JavaScript code in this tag.
|
|||||||
<li><a href="#org227ba84">1. Simscape Model</a></li>
|
<li><a href="#org227ba84">1. Simscape Model</a></li>
|
||||||
<li><a href="#org6bfb35d">2. Undamped System</a>
|
<li><a href="#org6bfb35d">2. Undamped System</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org61775db">2.1. Init</a></li>
|
<li><a href="#org5265d72">2.1. Init</a></li>
|
||||||
<li><a href="#org3019170">2.2. Identification</a></li>
|
<li><a href="#org3b15675">2.2. Identification</a></li>
|
||||||
<li><a href="#org6a3e875">2.3. Sensitivity to Disturbances</a></li>
|
<li><a href="#org3492011">2.3. Sensitivity to Disturbances</a></li>
|
||||||
<li><a href="#orgaf6bea7">2.4. Noise Budget</a></li>
|
<li><a href="#orgd860077">2.4. Noise Budget</a></li>
|
||||||
<li><a href="#orgdb3535a">2.5. Plant</a></li>
|
<li><a href="#orgdb3535a">2.5. Plant</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org90e581d">3. Integral Force Feedback</a>
|
<li><a href="#org66a1e03">3. Integral Force Feedback</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgd591c6e">3.1. Control Design</a></li>
|
<li><a href="#org5d899b2">3.1. Control Design</a></li>
|
||||||
<li><a href="#org33f4bcf">3.2. Identification</a></li>
|
<li><a href="#orge386fb1">3.2. Identification</a></li>
|
||||||
<li><a href="#org9f881a5">3.3. Sensitivity to Disturbance</a></li>
|
<li><a href="#orgbd405f9">3.3. Sensitivity to Disturbance</a></li>
|
||||||
<li><a href="#org1c61625">3.4. Damped Plant</a></li>
|
<li><a href="#orgbe8aa64">3.4. Damped Plant</a></li>
|
||||||
<li><a href="#org4fa7707">3.5. Conclusion</a></li>
|
<li><a href="#orgfa342b9">3.5. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org07ff58f">4. Relative Motion Control</a>
|
<li><a href="#org07ff58f">4. Relative Motion Control</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org185ae89">4.1. Control Design</a></li>
|
<li><a href="#org971bdb9">4.1. Control Design</a></li>
|
||||||
<li><a href="#org743899e">4.2. Identification</a></li>
|
<li><a href="#orgfce3b27">4.2. Identification</a></li>
|
||||||
<li><a href="#org2fa5702">4.3. Sensitivity to Disturbance</a></li>
|
<li><a href="#org2123e6c">4.3. Sensitivity to Disturbance</a></li>
|
||||||
<li><a href="#org19e990c">4.4. Damped Plant</a></li>
|
<li><a href="#org7e3e638">4.4. Damped Plant</a></li>
|
||||||
<li><a href="#org47c65d5">4.5. Conclusion</a></li>
|
<li><a href="#org0ec985e">4.5. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgc9b3622">5. Direct Velocity Feedback</a>
|
<li><a href="#orgc9b3622">5. Direct Velocity Feedback</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgd11a858">5.1. Control Design</a></li>
|
<li><a href="#orgd5df5f2">5.1. Control Design</a></li>
|
||||||
<li><a href="#orgd06082d">5.2. Identification</a></li>
|
<li><a href="#orgca551cb">5.2. Identification</a></li>
|
||||||
<li><a href="#org3111d50">5.3. Sensitivity to Disturbance</a></li>
|
<li><a href="#orga45e582">5.3. Sensitivity to Disturbance</a></li>
|
||||||
<li><a href="#org8451460">5.4. Damped Plant</a></li>
|
<li><a href="#orgdbf551f">5.4. Damped Plant</a></li>
|
||||||
<li><a href="#org4792e6e">5.5. Conclusion</a></li>
|
<li><a href="#orge883751">5.5. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org5ac7dda">6. With Cedrat Piezo-electric Actuators</a>
|
<li><a href="#org5ac7dda">6. With Cedrat Piezo-electric Actuators</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orga4db73c">6.1. Identification</a></li>
|
<li><a href="#orgddd7da8">6.1. Identification</a></li>
|
||||||
<li><a href="#org5d899b2">6.2. Control Design</a></li>
|
<li><a href="#orgb6ef594">6.2. Control Design</a></li>
|
||||||
<li><a href="#orgc9ca496">6.3. Identification</a></li>
|
<li><a href="#org5314588">6.3. Identification</a></li>
|
||||||
<li><a href="#org82723ce">6.4. Sensitivity to Disturbance</a></li>
|
<li><a href="#orgd226771">6.4. Sensitivity to Disturbance</a></li>
|
||||||
<li><a href="#orgf696e7c">6.5. Damped Plant</a></li>
|
<li><a href="#org294b781">6.5. Damped Plant</a></li>
|
||||||
<li><a href="#orgfc63bb2">6.6. Conclusion</a></li>
|
<li><a href="#orga768e31">6.6. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org77a79e6">7. Comparison of Active Damping Techniques</a>
|
<li><a href="#org77a79e6">7. Comparison of Active Damping Techniques</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgb0afe4f">7.1. Load the plants</a></li>
|
<li><a href="#orgb0afe4f">7.1. Load the plants</a></li>
|
||||||
<li><a href="#orgbd405f9">7.2. Sensitivity to Disturbance</a></li>
|
<li><a href="#org948b91d">7.2. Sensitivity to Disturbance</a></li>
|
||||||
<li><a href="#org76ed406">7.3. Noise Budget</a></li>
|
<li><a href="#org234479d">7.3. Noise Budget</a></li>
|
||||||
<li><a href="#orgbe8aa64">7.4. Damped Plant</a></li>
|
<li><a href="#orgf591690">7.4. Damped Plant</a></li>
|
||||||
<li><a href="#org74fe486">7.5. Conclusion</a></li>
|
<li><a href="#orgf332379">7.5. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#org15965e0">8. Voice Coil</a>
|
<li><a href="#org15965e0">8. Voice Coil</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org5265d72">8.1. Init</a></li>
|
<li><a href="#orgefc326e">8.1. Init</a></li>
|
||||||
<li><a href="#org3b15675">8.2. Identification</a></li>
|
<li><a href="#orgae49d6e">8.2. Identification</a></li>
|
||||||
<li><a href="#org3492011">8.3. Sensitivity to Disturbances</a></li>
|
<li><a href="#org72047d5">8.3. Sensitivity to Disturbances</a></li>
|
||||||
<li><a href="#org45c8e35">8.4. Noise Budget</a></li>
|
<li><a href="#orgbcac95d">8.4. Noise Budget</a></li>
|
||||||
<li><a href="#org66a1e03">8.5. Integral Force Feedback</a></li>
|
<li><a href="#org95b95ac">8.5. Integral Force Feedback</a></li>
|
||||||
<li><a href="#org2a655f7">8.6. Identification of the Damped Plant</a></li>
|
<li><a href="#org2a655f7">8.6. Identification of the Damped Plant</a></li>
|
||||||
<li><a href="#orgd860077">8.7. Noise Budget</a></li>
|
<li><a href="#orgc8d2daf">8.7. Noise Budget</a></li>
|
||||||
<li><a href="#orgfa342b9">8.8. Conclusion</a></li>
|
<li><a href="#orgb885664">8.8. Conclusion</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
@ -433,8 +432,8 @@ Schematics of the active damping techniques are displayed in figure <a href="#or
|
|||||||
Let’s start by study the undamped system.
|
Let’s start by study the undamped system.
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org61775db" class="outline-3">
|
<div id="outline-container-org5265d72" class="outline-3">
|
||||||
<h3 id="org61775db"><span class="section-number-3">2.1</span> Init</h3>
|
<h3 id="org5265d72"><span class="section-number-3">2.1</span> Init</h3>
|
||||||
<div class="outline-text-3" id="text-2-1">
|
<div class="outline-text-3" id="text-2-1">
|
||||||
<p>
|
<p>
|
||||||
We initialize all the stages with the default parameters.
|
We initialize all the stages with the default parameters.
|
||||||
@ -446,8 +445,8 @@ All the controllers are set to 0 (Open Loop).
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org3019170" class="outline-3">
|
<div id="outline-container-org3b15675" class="outline-3">
|
||||||
<h3 id="org3019170"><span class="section-number-3">2.2</span> Identification</h3>
|
<h3 id="org3b15675"><span class="section-number-3">2.2</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-2-2">
|
<div class="outline-text-3" id="text-2-2">
|
||||||
<p>
|
<p>
|
||||||
We identify the dynamics of the system.
|
We identify the dynamics of the system.
|
||||||
@ -510,8 +509,8 @@ Finally, we save the identified system dynamics for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org6a3e875" class="outline-3">
|
<div id="outline-container-org3492011" class="outline-3">
|
||||||
<h3 id="org6a3e875"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
|
<h3 id="org3492011"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
|
||||||
<div class="outline-text-3" id="text-2-3">
|
<div class="outline-text-3" id="text-2-3">
|
||||||
<p>
|
<p>
|
||||||
We show several plots representing the sensitivity to disturbances:
|
We show several plots representing the sensitivity to disturbances:
|
||||||
@ -538,8 +537,8 @@ We show several plots representing the sensitivity to disturbances:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgaf6bea7" class="outline-3">
|
<div id="outline-container-orgd860077" class="outline-3">
|
||||||
<h3 id="orgaf6bea7"><span class="section-number-3">2.4</span> Noise Budget</h3>
|
<h3 id="orgd860077"><span class="section-number-3">2.4</span> Noise Budget</h3>
|
||||||
<div class="outline-text-3" id="text-2-4">
|
<div class="outline-text-3" id="text-2-4">
|
||||||
<p>
|
<p>
|
||||||
We first load the measured PSD of the disturbance.
|
We first load the measured PSD of the disturbance.
|
||||||
@ -598,8 +597,8 @@ It corresponds to the plant to control.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org90e581d" class="outline-2">
|
<div id="outline-container-org66a1e03" class="outline-2">
|
||||||
<h2 id="org90e581d"><span class="section-number-2">3</span> Integral Force Feedback</h2>
|
<h2 id="org66a1e03"><span class="section-number-2">3</span> Integral Force Feedback</h2>
|
||||||
<div class="outline-text-2" id="text-3">
|
<div class="outline-text-2" id="text-3">
|
||||||
<p>
|
<p>
|
||||||
<a id="org37f1b7d"></a>
|
<a id="org37f1b7d"></a>
|
||||||
@ -611,8 +610,8 @@ It corresponds to the plant to control.
|
|||||||
<p><span class="figure-number">Figure 8: </span>Uniaxial IFF Control Schematic</p>
|
<p><span class="figure-number">Figure 8: </span>Uniaxial IFF Control Schematic</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgd591c6e" class="outline-3">
|
<div id="outline-container-org5d899b2" class="outline-3">
|
||||||
<h3 id="orgd591c6e"><span class="section-number-3">3.1</span> Control Design</h3>
|
<h3 id="org5d899b2"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-3-1">
|
<div class="outline-text-3" id="text-3-1">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||||
@ -647,8 +646,8 @@ The controller for each pair of actuator/sensor is:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org33f4bcf" class="outline-3">
|
<div id="outline-container-orge386fb1" class="outline-3">
|
||||||
<h3 id="org33f4bcf"><span class="section-number-3">3.2</span> Identification</h3>
|
<h3 id="orge386fb1"><span class="section-number-3">3.2</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-3-2">
|
<div class="outline-text-3" id="text-3-2">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -731,8 +730,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org9f881a5" class="outline-3">
|
<div id="outline-container-orgbd405f9" class="outline-3">
|
||||||
<h3 id="org9f881a5"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
|
<h3 id="orgbd405f9"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
|
||||||
<div class="outline-text-3" id="text-3-3">
|
<div class="outline-text-3" id="text-3-3">
|
||||||
|
|
||||||
<div id="orge528565" class="figure">
|
<div id="orge528565" class="figure">
|
||||||
@ -750,8 +749,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org1c61625" class="outline-3">
|
<div id="outline-container-orgbe8aa64" class="outline-3">
|
||||||
<h3 id="org1c61625"><span class="section-number-3">3.4</span> Damped Plant</h3>
|
<h3 id="orgbe8aa64"><span class="section-number-3">3.4</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-3-4">
|
<div class="outline-text-3" id="text-3-4">
|
||||||
|
|
||||||
<div id="org57280cb" class="figure">
|
<div id="org57280cb" class="figure">
|
||||||
@ -762,8 +761,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org4fa7707" class="outline-3">
|
<div id="outline-container-orgfa342b9" class="outline-3">
|
||||||
<h3 id="org4fa7707"><span class="section-number-3">3.5</span> Conclusion</h3>
|
<h3 id="orgfa342b9"><span class="section-number-3">3.5</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-3-5">
|
<div class="outline-text-3" id="text-3-5">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -792,8 +791,8 @@ In the Relative Motion Control (RMC), a derivative feedback is applied between t
|
|||||||
<p><span class="figure-number">Figure 14: </span>Uniaxial RMC Control Schematic</p>
|
<p><span class="figure-number">Figure 14: </span>Uniaxial RMC Control Schematic</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org185ae89" class="outline-3">
|
<div id="outline-container-org971bdb9" class="outline-3">
|
||||||
<h3 id="org185ae89"><span class="section-number-3">4.1</span> Control Design</h3>
|
<h3 id="org971bdb9"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-4-1">
|
<div class="outline-text-3" id="text-4-1">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||||
@ -829,8 +828,8 @@ A Low pass Filter is added to make the controller transfer function proper.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org743899e" class="outline-3">
|
<div id="outline-container-orgfce3b27" class="outline-3">
|
||||||
<h3 id="org743899e"><span class="section-number-3">4.2</span> Identification</h3>
|
<h3 id="orgfce3b27"><span class="section-number-3">4.2</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-4-2">
|
<div class="outline-text-3" id="text-4-2">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -914,8 +913,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
<div id="outline-container-org2fa5702" class="outline-3">
|
<div id="outline-container-org2123e6c" class="outline-3">
|
||||||
<h3 id="org2fa5702"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
|
<h3 id="org2123e6c"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
|
||||||
<div class="outline-text-3" id="text-4-3">
|
<div class="outline-text-3" id="text-4-3">
|
||||||
|
|
||||||
<div id="org9e0dde4" class="figure">
|
<div id="org9e0dde4" class="figure">
|
||||||
@ -933,8 +932,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org19e990c" class="outline-3">
|
<div id="outline-container-org7e3e638" class="outline-3">
|
||||||
<h3 id="org19e990c"><span class="section-number-3">4.4</span> Damped Plant</h3>
|
<h3 id="org7e3e638"><span class="section-number-3">4.4</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-4-4">
|
<div class="outline-text-3" id="text-4-4">
|
||||||
|
|
||||||
<div id="org18786e8" class="figure">
|
<div id="org18786e8" class="figure">
|
||||||
@ -945,8 +944,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org47c65d5" class="outline-3">
|
<div id="outline-container-org0ec985e" class="outline-3">
|
||||||
<h3 id="org47c65d5"><span class="section-number-3">4.5</span> Conclusion</h3>
|
<h3 id="org0ec985e"><span class="section-number-3">4.5</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-4-5">
|
<div class="outline-text-3" id="text-4-5">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -975,8 +974,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
|||||||
<p><span class="figure-number">Figure 20: </span>Uniaxial DVF Control Schematic</p>
|
<p><span class="figure-number">Figure 20: </span>Uniaxial DVF Control Schematic</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orgd11a858" class="outline-3">
|
<div id="outline-container-orgd5df5f2" class="outline-3">
|
||||||
<h3 id="orgd11a858"><span class="section-number-3">5.1</span> Control Design</h3>
|
<h3 id="orgd5df5f2"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-5-1">
|
<div class="outline-text-3" id="text-5-1">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||||
@ -1004,8 +1003,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgd06082d" class="outline-3">
|
<div id="outline-container-orgca551cb" class="outline-3">
|
||||||
<h3 id="orgd06082d"><span class="section-number-3">5.2</span> Identification</h3>
|
<h3 id="orgca551cb"><span class="section-number-3">5.2</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-5-2">
|
<div class="outline-text-3" id="text-5-2">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -1088,8 +1087,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org3111d50" class="outline-3">
|
<div id="outline-container-orga45e582" class="outline-3">
|
||||||
<h3 id="org3111d50"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
|
<h3 id="orga45e582"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
|
||||||
<div class="outline-text-3" id="text-5-3">
|
<div class="outline-text-3" id="text-5-3">
|
||||||
|
|
||||||
<div id="orgf9d4052" class="figure">
|
<div id="orgf9d4052" class="figure">
|
||||||
@ -1107,8 +1106,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org8451460" class="outline-3">
|
<div id="outline-container-orgdbf551f" class="outline-3">
|
||||||
<h3 id="org8451460"><span class="section-number-3">5.4</span> Damped Plant</h3>
|
<h3 id="orgdbf551f"><span class="section-number-3">5.4</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-5-4">
|
<div class="outline-text-3" id="text-5-4">
|
||||||
|
|
||||||
<div id="orgbc9c953" class="figure">
|
<div id="orgbc9c953" class="figure">
|
||||||
@ -1119,8 +1118,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org4792e6e" class="outline-3">
|
<div id="outline-container-orge883751" class="outline-3">
|
||||||
<h3 id="org4792e6e"><span class="section-number-3">5.5</span> Conclusion</h3>
|
<h3 id="orge883751"><span class="section-number-3">5.5</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-5-5">
|
<div class="outline-text-3" id="text-5-5">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1148,8 +1147,8 @@ The model used for the Cedrat actuator is shown in figure <a href="#org83591fa">
|
|||||||
<p><span class="figure-number">Figure 26: </span>Schematic of the model used for the Cedrat Actuator</p>
|
<p><span class="figure-number">Figure 26: </span>Schematic of the model used for the Cedrat Actuator</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-orga4db73c" class="outline-3">
|
<div id="outline-container-orgddd7da8" class="outline-3">
|
||||||
<h3 id="orga4db73c"><span class="section-number-3">6.1</span> Identification</h3>
|
<h3 id="orgddd7da8"><span class="section-number-3">6.1</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-6-1">
|
<div class="outline-text-3" id="text-6-1">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -1237,8 +1236,8 @@ G.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-comm
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org5d899b2" class="outline-3">
|
<div id="outline-container-orgb6ef594" class="outline-3">
|
||||||
<h3 id="org5d899b2"><span class="section-number-3">6.2</span> Control Design</h3>
|
<h3 id="orgb6ef594"><span class="section-number-3">6.2</span> Control Design</h3>
|
||||||
<div class="outline-text-3" id="text-6-2">
|
<div class="outline-text-3" id="text-6-2">
|
||||||
<p>
|
<p>
|
||||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor.
|
Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor.
|
||||||
@ -1268,8 +1267,8 @@ The controller for each pair of actuator/sensor is:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgc9ca496" class="outline-3">
|
<div id="outline-container-org5314588" class="outline-3">
|
||||||
<h3 id="orgc9ca496"><span class="section-number-3">6.3</span> Identification</h3>
|
<h3 id="org5314588"><span class="section-number-3">6.3</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-6-3">
|
<div class="outline-text-3" id="text-6-3">
|
||||||
<p>
|
<p>
|
||||||
Let’s initialize the system prior to identification.
|
Let’s initialize the system prior to identification.
|
||||||
@ -1353,8 +1352,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org82723ce" class="outline-3">
|
<div id="outline-container-orgd226771" class="outline-3">
|
||||||
<h3 id="org82723ce"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
|
<h3 id="orgd226771"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
|
||||||
<div class="outline-text-3" id="text-6-4">
|
<div class="outline-text-3" id="text-6-4">
|
||||||
|
|
||||||
<div id="org90f5c2b" class="figure">
|
<div id="org90f5c2b" class="figure">
|
||||||
@ -1372,8 +1371,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgf696e7c" class="outline-3">
|
<div id="outline-container-org294b781" class="outline-3">
|
||||||
<h3 id="orgf696e7c"><span class="section-number-3">6.5</span> Damped Plant</h3>
|
<h3 id="org294b781"><span class="section-number-3">6.5</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-6-5">
|
<div class="outline-text-3" id="text-6-5">
|
||||||
|
|
||||||
<div id="org0c4e61a" class="figure">
|
<div id="org0c4e61a" class="figure">
|
||||||
@ -1384,8 +1383,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgfc63bb2" class="outline-3">
|
<div id="outline-container-orga768e31" class="outline-3">
|
||||||
<h3 id="orgfc63bb2"><span class="section-number-3">6.6</span> Conclusion</h3>
|
<h3 id="orga768e31"><span class="section-number-3">6.6</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-6-6">
|
<div class="outline-text-3" id="text-6-6">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1414,8 +1413,8 @@ This gives similar results than with a classical force sensor.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgbd405f9" class="outline-3">
|
<div id="outline-container-org948b91d" class="outline-3">
|
||||||
<h3 id="orgbd405f9"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
|
<h3 id="org948b91d"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
|
||||||
<div class="outline-text-3" id="text-7-2">
|
<div class="outline-text-3" id="text-7-2">
|
||||||
|
|
||||||
<div id="org8c59440" class="figure">
|
<div id="org8c59440" class="figure">
|
||||||
@ -1448,8 +1447,8 @@ This gives similar results than with a classical force sensor.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org76ed406" class="outline-3">
|
<div id="outline-container-org234479d" class="outline-3">
|
||||||
<h3 id="org76ed406"><span class="section-number-3">7.3</span> Noise Budget</h3>
|
<h3 id="org234479d"><span class="section-number-3">7.3</span> Noise Budget</h3>
|
||||||
<div class="outline-text-3" id="text-7-3">
|
<div class="outline-text-3" id="text-7-3">
|
||||||
<p>
|
<p>
|
||||||
We first load the measured PSD of the disturbance.
|
We first load the measured PSD of the disturbance.
|
||||||
@ -1516,8 +1515,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgbe8aa64" class="outline-3">
|
<div id="outline-container-orgf591690" class="outline-3">
|
||||||
<h3 id="orgbe8aa64"><span class="section-number-3">7.4</span> Damped Plant</h3>
|
<h3 id="orgf591690"><span class="section-number-3">7.4</span> Damped Plant</h3>
|
||||||
<div class="outline-text-3" id="text-7-4">
|
<div class="outline-text-3" id="text-7-4">
|
||||||
|
|
||||||
<div id="orga0c1298" class="figure">
|
<div id="orga0c1298" class="figure">
|
||||||
@ -1528,8 +1527,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org74fe486" class="outline-3">
|
<div id="outline-container-orgf332379" class="outline-3">
|
||||||
<h3 id="org74fe486"><span class="section-number-3">7.5</span> Conclusion</h3>
|
<h3 id="orgf332379"><span class="section-number-3">7.5</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-7-5">
|
<div class="outline-text-3" id="text-7-5">
|
||||||
<table id="org46e95c2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
<table id="org46e95c2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||||
<caption class="t-above"><span class="table-number">Table 2:</span> Comparison of proposed active damping techniques</caption>
|
<caption class="t-above"><span class="table-number">Table 2:</span> Comparison of proposed active damping techniques</caption>
|
||||||
@ -1605,8 +1604,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
|||||||
<a id="orgf9e9d51"></a>
|
<a id="orgf9e9d51"></a>
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org5265d72" class="outline-3">
|
<div id="outline-container-orgefc326e" class="outline-3">
|
||||||
<h3 id="org5265d72"><span class="section-number-3">8.1</span> Init</h3>
|
<h3 id="orgefc326e"><span class="section-number-3">8.1</span> Init</h3>
|
||||||
<div class="outline-text-3" id="text-8-1">
|
<div class="outline-text-3" id="text-8-1">
|
||||||
<p>
|
<p>
|
||||||
We initialize all the stages with the default parameters.
|
We initialize all the stages with the default parameters.
|
||||||
@ -1618,8 +1617,8 @@ All the controllers are set to 0 (Open Loop).
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org3b15675" class="outline-3">
|
<div id="outline-container-orgae49d6e" class="outline-3">
|
||||||
<h3 id="org3b15675"><span class="section-number-3">8.2</span> Identification</h3>
|
<h3 id="orgae49d6e"><span class="section-number-3">8.2</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-8-2">
|
<div class="outline-text-3" id="text-8-2">
|
||||||
<p>
|
<p>
|
||||||
We identify the dynamics of the system.
|
We identify the dynamics of the system.
|
||||||
@ -1682,8 +1681,8 @@ Finally, we save the identified system dynamics for further analysis.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org3492011" class="outline-3">
|
<div id="outline-container-org72047d5" class="outline-3">
|
||||||
<h3 id="org3492011"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
|
<h3 id="org72047d5"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
|
||||||
<div class="outline-text-3" id="text-8-3">
|
<div class="outline-text-3" id="text-8-3">
|
||||||
<p>
|
<p>
|
||||||
We load the dynamics when using a piezo-electric nano hexapod to compare the results.
|
We load the dynamics when using a piezo-electric nano hexapod to compare the results.
|
||||||
@ -1717,8 +1716,8 @@ We show several plots representing the sensitivity to disturbances:
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org45c8e35" class="outline-3">
|
<div id="outline-container-orgbcac95d" class="outline-3">
|
||||||
<h3 id="org45c8e35"><span class="section-number-3">8.4</span> Noise Budget</h3>
|
<h3 id="orgbcac95d"><span class="section-number-3">8.4</span> Noise Budget</h3>
|
||||||
<div class="outline-text-3" id="text-8-4">
|
<div class="outline-text-3" id="text-8-4">
|
||||||
<p>
|
<p>
|
||||||
We first load the measured PSD of the disturbance.
|
We first load the measured PSD of the disturbance.
|
||||||
@ -1767,8 +1766,8 @@ Thus, it may be desirable to use voice coil actuators.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="outline-container-org66a1e03" class="outline-3">
|
<div id="outline-container-org95b95ac" class="outline-3">
|
||||||
<h3 id="org66a1e03"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
|
<h3 id="org95b95ac"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
|
||||||
<div class="outline-text-3" id="text-8-5">
|
<div class="outline-text-3" id="text-8-5">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">K_iff = <span class="org-type">-</span>20<span class="org-type">/</span>s;
|
<pre class="src src-matlab">K_iff = <span class="org-type">-</span>20<span class="org-type">/</span>s;
|
||||||
@ -1863,8 +1862,8 @@ G_vc_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgd860077" class="outline-3">
|
<div id="outline-container-orgc8d2daf" class="outline-3">
|
||||||
<h3 id="orgd860077"><span class="section-number-3">8.7</span> Noise Budget</h3>
|
<h3 id="orgc8d2daf"><span class="section-number-3">8.7</span> Noise Budget</h3>
|
||||||
<div class="outline-text-3" id="text-8-7">
|
<div class="outline-text-3" id="text-8-7">
|
||||||
<p>
|
<p>
|
||||||
We compute the obtain PSD of the displacement \(D\) when using IFF.
|
We compute the obtain PSD of the displacement \(D\) when using IFF.
|
||||||
@ -1878,8 +1877,8 @@ We compute the obtain PSD of the displacement \(D\) when using IFF.
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgfa342b9" class="outline-3">
|
<div id="outline-container-orgb885664" class="outline-3">
|
||||||
<h3 id="orgfa342b9"><span class="section-number-3">8.8</span> Conclusion</h3>
|
<h3 id="orgb885664"><span class="section-number-3">8.8</span> Conclusion</h3>
|
||||||
<div class="outline-text-3" id="text-8-8">
|
<div class="outline-text-3" id="text-8-8">
|
||||||
<div class="important">
|
<div class="important">
|
||||||
<p>
|
<p>
|
||||||
@ -1897,7 +1896,7 @@ Similarly, it would require much lower bandwidth to attain the same level of dis
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<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>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
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|
||||||
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|
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|
||||||
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|
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||||||
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|
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|
||||||
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|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
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|
||||||
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|
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||||||
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|
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|
||||||
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|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
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|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
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|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
@ -6,16 +6,16 @@
|
|||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ./index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ./index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user