Update model for Cedrat actuator (simple one)
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figs/cedrat-uniaxial-actuator.png
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simscape/sim_nano_station_uniaxial_cedrat_bis.slx
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@ -2188,6 +2188,40 @@ Direct Velocity Feedback:
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#+end_important
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#+end_important
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* With Cedrat Piezo-electric Actuators
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* With Cedrat Piezo-electric Actuators
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<<sec:cedrat_actuator>>
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<<sec:cedrat_actuator>>
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** Introduction :ignore:
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The model used for the Cedrat actuator is shown in figure [[fig:cedrat_schematic]].
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#+begin_src latex :file cedrat-uniaxial-actuator.pdf :post pdf2svg(file=*this*, ext="png") :exports results
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\begin{tikzpicture}
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% Spring, Damper, and Actuator
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\draw[] (0, -0.2) -- (0, 0);
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\draw[] (-1, 0) -- (1, 0);
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\draw[spring] (-1, 0) -- (-1, 2) node[midway, left=0.1]{$k_{a}$};
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\draw[damper] (0, 0) -- ( 0, 2) node[midway, left=0.2]{$c_{a}$};
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\draw[actuator] (1, 0) -- ( 1, 2) node[midway, left=0.2]{$F$};
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\draw[] (-1, 2) -- (1, 2);
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\draw[] (0, 2) -- (0, 2.2);
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\node[forcesensor={0.4}{0.4}] (fsensn) at (0, 2.2){};
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\draw[] (0, 2.6) -- (0, 2.8);
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\draw[spring] (2, -0.2) -- (2, 2.8) node[midway, left=0.2]{$k$};
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\draw[] (0, -0.2) -- (2, -0.2);
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\draw[] (0, 2.8) -- (2, 2.8);
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\draw[] (1, 2.8) -- (1, 3);
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\draw[] (1, -0.2) -- (1, -0.4);
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\end{tikzpicture}
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#+end_src
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#+name: fig:cedrat_schematic
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#+caption: Schematic of the model used for the Cedrat Actuator
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#+RESULTS:
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[[file:figs/cedrat-uniaxial-actuator.png]]
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** Matlab Init :noexport:ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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<<matlab-dir>>
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@ -2206,6 +2240,33 @@ Direct Velocity Feedback:
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#+end_src
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#+end_src
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** Identification
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** Identification
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Let's initialize the system prior to identification.
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#+begin_src matlab
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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initializeCedratPiezo();
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initializeSample(struct('mass', 50));
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#+end_src
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And initialize the controllers.
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#+begin_src matlab
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K = tf(0);
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save('./mat/controllers.mat', 'K', '-append');
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K_iff = tf(0);
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_rmc = tf(0);
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save('./mat/controllers.mat', 'K_rmc', '-append');
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K_dvf = tf(0);
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save('./mat/controllers.mat', 'K_dvf', '-append');
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#+end_src
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We identify the dynamics of the system.
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We identify the dynamics of the system.
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#+begin_src matlab
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#+begin_src matlab
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%% Options for Linearized
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%% Options for Linearized
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@ -2213,7 +2274,7 @@ We identify the dynamics of the system.
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options.SampleTime = 0;
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options.SampleTime = 0;
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%% Name of the Simulink File
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%% Name of the Simulink File
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mdl = 'sim_nano_station_uniaxial_cedrat';
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mdl = 'sim_nano_station_uniaxial_cedrat_bis';
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#+end_src
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#+end_src
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The inputs and outputs are defined below and corresponds to the name of simulink blocks.
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The inputs and outputs are defined below and corresponds to the name of simulink blocks.
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@ -2252,7 +2313,7 @@ Finally, we use the =linearize= Matlab function to extract a state space model f
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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.
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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.
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#+begin_src matlab :exports none
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#+begin_src matlab :exports none
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freqs = logspace(0, 3, 1000);
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freqs = logspace(0, 4, 1000);
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figure;
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figure;
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@ -2282,11 +2343,11 @@ Let's look at the transfer function from actuator forces in the nano-hexapod to
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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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#+begin_src matlab
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#+begin_src matlab
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K_cedrat = 1000/s;
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K_cedrat = -5000/s;
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#+end_src
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#+end_src
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#+begin_src matlab :exports none
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#+begin_src matlab :exports none
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freqs = logspace(0, 3, 1000);
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freqs = logspace(0, 4, 1000);
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figure;
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figure;
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@ -2326,6 +2387,7 @@ Let's initialize the system prior to identification.
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initializeAxisc();
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initializeAxisc();
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initializeMirror();
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initializeMirror();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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initializeNanoHexapod(struct('actuator', 'piezo'));
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initializeCedratPiezo();
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initializeSample(struct('mass', 50));
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initializeSample(struct('mass', 50));
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#+end_src
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#+end_src
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@ -2347,7 +2409,7 @@ All the controllers are set to 0.
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options.SampleTime = 0;
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options.SampleTime = 0;
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%% Name of the Simulink File
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%% Name of the Simulink File
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mdl = 'sim_nano_station_uniaxial_cedrat';
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mdl = 'sim_nano_station_uniaxial_cedrat_bis';
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#+end_src
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#+end_src
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#+begin_src matlab
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#+begin_src matlab
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@ -2381,7 +2443,7 @@ All the controllers are set to 0.
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#+end_src
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#+end_src
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#+begin_src matlab
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#+begin_src matlab
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save('./uniaxial/mat/plants.mat', 'G_cedrat', '-append');
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% save('./uniaxial/mat/plants.mat', 'G_cedrat', '-append');
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#+end_src
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#+end_src
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** Sensitivity to Disturbance
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** Sensitivity to Disturbance
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@ -2492,7 +2554,7 @@ All the controllers are set to 0.
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** Conclusion
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** Conclusion
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#+begin_important
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#+begin_important
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This gives similar results than with a classical force sensor.
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This gives similar results than with a classical force sensor.
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#+end_important
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#+end_important
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* Comparison of Active Damping Techniques
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* Comparison of Active Damping Techniques
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