Change all the organization of the files
This commit is contained in:
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docs/active_damping.html
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docs/active_damping.html
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docs/active_damping_uniaxial.html
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docs/control.html
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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"
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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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<head>
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<!-- 2020-02-25 mar. 18:08 -->
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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" />
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<title>Control of the NASS</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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#postamble p, #preamble p { font-size: 90%; margin: .2em; }
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|
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|
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|
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/* additional language identifiers per "defun org-babel-execute"
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||||
in ob-*.el */
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|
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|
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/* additional language identifiers from org-babel-shell-names in
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||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
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|
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pre.src-bash:before { content: 'bash'; }
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|
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|
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|
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|
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|
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pre.src-posh:before { content: 'posh'; }
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/* Additional Emacs modes also supported by the LaTeX listings package */
|
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|
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|
||||
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|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
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pre.src-idl:before { content: 'IDL'; }
|
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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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|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
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|
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|
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|
||||
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|
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|
||||
th.org-center { text-align: center; }
|
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td.org-right { text-align: right; }
|
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|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
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||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
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||||
}
|
||||
.inlinetask {
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||||
padding: 10px;
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||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
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||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
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.linenr { font-size: smaller }
|
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|
||||
.org-info-js_info-navigation { border-style: none; }
|
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#org-info-js_console-label
|
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{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
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||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
||||
<script type="text/javascript" src="../js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
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||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
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||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
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||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
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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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|
||||
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|
||||
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|
||||
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|
||||
/*]]>*///-->
|
||||
</script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="../index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="../index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Control of the NASS</h1>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-02-25 mar. 18:08</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
145
docs/css/htmlize.css
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docs/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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|
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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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|
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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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|
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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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|
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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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|
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|
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|
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|
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|
||||
.org-org-checkbox-statistics-todo { /* org-checkbox-statistics-todo */ color: #ff0000; font-weight: bold; }
|
||||
.org-org-clock-overlay { /* org-clock-overlay */ background-color: #ffff00; }
|
||||
.org-org-code { /* org-code */ color: #7f7f7f; }
|
||||
.org-org-column { /* org-column */ background-color: #e5e5e5; }
|
||||
.org-org-column-title { /* org-column-title */ background-color: #e5e5e5; font-weight: bold; text-decoration: underline; }
|
||||
.org-org-date { /* org-date */ color: #a020f0; text-decoration: underline; }
|
||||
.org-org-document-info { /* org-document-info */ color: #191970; }
|
||||
.org-org-document-info-keyword { /* org-document-info-keyword */ color: #7f7f7f; }
|
||||
.org-org-document-title { /* org-document-title */ color: #191970; font-size: 144%; font-weight: bold; }
|
||||
.org-org-done { /* org-done */ color: #228b22; font-weight: bold; }
|
||||
.org-org-drawer { /* org-drawer */ color: #0000ff; }
|
||||
.org-org-ellipsis { /* org-ellipsis */ color: #b8860b; text-decoration: underline; }
|
||||
.org-org-footnote { /* org-footnote */ color: #a020f0; text-decoration: underline; }
|
||||
.org-org-formula { /* org-formula */ color: #b22222; }
|
||||
.org-org-headline-done { /* org-headline-done */ color: #bc8f8f; }
|
||||
.org-org-hide { /* org-hide */ color: #ffffff; }
|
||||
.org-org-latex-and-export-specials { /* org-latex-and-export-specials */ color: #8b4513; }
|
||||
.org-org-level-1 { /* org-level-1 */ color: #0000ff; }
|
||||
.org-org-level-2 { /* org-level-2 */ color: #a0522d; }
|
||||
.org-org-level-3 { /* org-level-3 */ color: #a020f0; }
|
||||
.org-org-level-4 { /* org-level-4 */ color: #b22222; }
|
||||
.org-org-level-5 { /* org-level-5 */ color: #228b22; }
|
||||
.org-org-level-6 { /* org-level-6 */ color: #008b8b; }
|
||||
.org-org-level-7 { /* org-level-7 */ color: #7a378b; }
|
||||
.org-org-level-8 { /* org-level-8 */ color: #8b2252; }
|
||||
.org-org-link { /* org-link */ color: #0000ff; text-decoration: underline; }
|
||||
.org-org-meta-line { /* org-meta-line */ color: #b22222; }
|
||||
.org-org-mode-line-clock { /* org-mode-line-clock */ color: #000000; background-color: #bfbfbf; }
|
||||
.org-org-mode-line-clock-overrun { /* org-mode-line-clock-overrun */ color: #000000; background-color: #ff0000; }
|
||||
.org-org-quote { /* org-quote */ color: #7f7f7f; }
|
||||
.org-org-scheduled { /* org-scheduled */ color: #006400; }
|
||||
.org-org-scheduled-previously { /* org-scheduled-previously */ color: #b22222; }
|
||||
.org-org-scheduled-today { /* org-scheduled-today */ color: #006400; }
|
||||
.org-org-sexp-date { /* org-sexp-date */ color: #a020f0; }
|
||||
.org-org-special-keyword { /* org-special-keyword */ color: #a020f0; }
|
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.org-org-table { /* org-table */ color: #0000ff; }
|
||||
.org-org-tag { /* org-tag */ font-weight: bold; }
|
||||
.org-org-target { /* org-target */ text-decoration: underline; }
|
||||
.org-org-time-grid { /* org-time-grid */ color: #b8860b; }
|
||||
.org-org-todo { /* org-todo */ color: #ff0000; font-weight: bold; }
|
||||
.org-org-upcoming-deadline { /* org-upcoming-deadline */ color: #b22222; }
|
||||
.org-org-verbatim { /* org-verbatim */ color: #7f7f7f; }
|
||||
.org-org-verse { /* org-verse */ color: #7f7f7f; }
|
||||
.org-org-warning { /* org-warning */ color: #ff0000; font-weight: bold; }
|
||||
.org-outline-1 { /* outline-1 */ color: #0000ff; }
|
||||
.org-outline-2 { /* outline-2 */ color: #a0522d; }
|
||||
.org-outline-3 { /* outline-3 */ color: #a020f0; }
|
||||
.org-outline-4 { /* outline-4 */ color: #b22222; }
|
||||
.org-outline-5 { /* outline-5 */ color: #228b22; }
|
||||
.org-outline-6 { /* outline-6 */ color: #008b8b; }
|
||||
.org-outline-7 { /* outline-7 */ color: #7a378b; }
|
||||
.org-outline-8 { /* outline-8 */ color: #8b2252; }
|
||||
.org-preprocessor { /* font-lock-preprocessor-face */ color: #7a378b; }
|
||||
.org-query-replace { /* query-replace */ color: #b0e2ff; background-color: #cd00cd; }
|
||||
.org-regexp-grouping-backslash { /* font-lock-regexp-grouping-backslash */ font-weight: bold; }
|
||||
.org-regexp-grouping-construct { /* font-lock-regexp-grouping-construct */ font-weight: bold; }
|
||||
.org-region { /* region */ background-color: #eedc82; }
|
||||
.org-secondary-selection { /* secondary-selection */ background-color: #ffff00; }
|
||||
.org-shadow { /* shadow */ color: #7f7f7f; }
|
||||
.org-show-paren-match { /* show-paren-match */ background-color: #40e0d0; }
|
||||
.org-show-paren-mismatch { /* show-paren-mismatch */ color: #ffffff; background-color: #a020f0; }
|
||||
.org-string { /* font-lock-string-face */ color: #dd1144; }
|
||||
.org-tool-bar { /* tool-bar */ color: #000000; background-color: #bfbfbf; }
|
||||
.org-tooltip { /* tooltip */ color: #000000; background-color: #ffffe0; }
|
||||
.org-trailing-whitespace { /* trailing-whitespace */ background-color: #ff0000; }
|
||||
.org-type { /* font-lock-type-face */ color: #228b22; }
|
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.org-underline { /* underline */ text-decoration: underline; }
|
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.org-variable-name { /* font-lock-variable-name-face */ color: teal; }
|
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.org-warning { /* font-lock-warning-face */ color: #ff0000; font-weight: bold; }
|
||||
.org-widget-button { /* widget-button */ font-weight: bold; }
|
||||
.org-widget-button-pressed { /* widget-button-pressed */ color: #ff0000; }
|
||||
.org-widget-documentation { /* widget-documentation */ color: #006400; }
|
||||
.org-widget-field { /* widget-field */ background-color: #d9d9d9; }
|
||||
.org-widget-inactive { /* widget-inactive */ color: #7f7f7f; }
|
||||
.org-widget-single-line-field { /* widget-single-line-field */ background-color: #d9d9d9; }
|
||||
1095
docs/css/readtheorg.css
Normal file
1095
docs/css/readtheorg.css
Normal file
File diff suppressed because it is too large
Load Diff
598
docs/disturbances.html
Normal file
598
docs/disturbances.html
Normal file
@@ -0,0 +1,598 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
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<head>
|
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<!-- 2020-02-25 mar. 18:08 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Identification of the disturbances</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
||||
<script type="text/javascript" src="../js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="../index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="../index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Identification of the disturbances</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#Simscape-Model">1. Simscape Model</a></li>
|
||||
<li><a href="#Identification">2. Identification</a></li>
|
||||
<li><a href="#Sensitivity-to-Disturbances">3. Sensitivity to Disturbances</a></li>
|
||||
<li><a href="#Power-Spectral-Density-of-the-effect-of-the-disturbances">4. Power Spectral Density of the effect of the disturbances</a></li>
|
||||
<li><a href="#Compute-the-Power-Spectral-Density-of-the-disturbance-force">5. Compute the Power Spectral Density of the disturbance force</a></li>
|
||||
<li><a href="#Noise-Budget">6. Noise Budget</a></li>
|
||||
<li><a href="#Save">7. Save</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The goal here is to extract the Power Spectral Density of the sources of perturbation.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The sources of perturbations are (schematically shown in figure <a href="#org3b8025c">1</a>):
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>\(D_w\): Ground Motion</li>
|
||||
<li>Parasitic forces applied in the system when scanning with the Translation Stage and the Spindle (\(F_{rz}\) and \(F_{ty}\)).
|
||||
These forces can be due to imperfect guiding for instance.</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
Because we cannot measure directly the perturbation forces, we have the measure the effect of those perturbations on the system (in terms of velocity for instance using geophones, \(D\) on figure <a href="#org3b8025c">1</a>) and then, using a model, compute the forces that induced such velocity.
|
||||
</p>
|
||||
|
||||
|
||||
|
||||
<div id="org3b8025c" class="figure">
|
||||
<p><img src="figs/uniaxial-model-micro-station.png" alt="uniaxial-model-micro-station.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Schematic of the Micro Station and the sources of disturbance</p>
|
||||
</div>
|
||||
|
||||
|
||||
<p>
|
||||
This file is divided in the following sections:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Section <a href="#org7cdab70">1</a>: the simscape model used here is presented</li>
|
||||
<li>Section <a href="#org43ec76b">2</a>: transfer functions from the disturbance forces to the relative velocity of the hexapod with respect to the granite are computed using the Simscape Model representing the experimental setup</li>
|
||||
<li>Section <a href="#org5636fee">3</a>: the bode plot of those transfer functions are shown</li>
|
||||
<li>Section <a href="#org40a7e4e">4</a>: the measured PSD of the effect of the disturbances are shown</li>
|
||||
<li>Section <a href="#orgd113ba5">5</a>: from the model and the measured PSD, the PSD of the disturbance forces are computed</li>
|
||||
<li>Section <a href="#org71da6bd">6</a>: with the computed PSD, the noise budget of the system is done</li>
|
||||
</ul>
|
||||
|
||||
<div id="outline-container-orgd6383a2" class="outline-2">
|
||||
<h2 id="Simscape-Model"><span class="section-number-2">1</span> Simscape Model</h2>
|
||||
<div class="outline-text-2" id="text-Simscape-Model">
|
||||
<p>
|
||||
<a id="org7cdab70"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The following Simscape model of the micro-station is the same model used for the dynamical analysis.
|
||||
However, we here constrain all the stage to only move in the vertical direction.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
We add disturbances forces in the vertical direction for the Translation Stage and the Spindle.
|
||||
Also, we measure the absolute displacement of the granite and of the top platform of the Hexapod.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
We load the configuration and we set a small <code>StopTime</code>.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'0.5'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize all the stages.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite(<span class="org-string">'type'</span>, <span class="org-string">'modal-analysis'</span>);
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod(<span class="org-string">'type'</span>, <span class="org-string">'modal-analysis'</span>);
|
||||
initializeAxisc(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
||||
initializeMirror(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
||||
initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
||||
initializeSample(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgab57d7a" class="outline-2">
|
||||
<h2 id="Identification"><span class="section-number-2">2</span> Identification</h2>
|
||||
<div class="outline-text-2" id="text-Identification">
|
||||
<p>
|
||||
<a id="org43ec76b"></a>
|
||||
The transfer functions from the disturbance forces to the relative velocity of the hexapod with respect to the granite are computed using the Simscape Model representing the experimental setup with the code below.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
|
||||
mdl = <span class="org-string">'nass_model'</span>;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Micro-Hexapod</span></span>
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Disturbances'</span>], 1, <span class="org-string">'openinput'</span>, [], <span class="org-string">'Dwz'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Vertical Ground Motion</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Disturbances'</span>], 1, <span class="org-string">'openinput'</span>, [], <span class="org-string">'Fty_z'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Parasitic force Ty</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Disturbances'</span>], 1, <span class="org-string">'openinput'</span>, [], <span class="org-string">'Frz_z'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Parasitic force Rz</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Micro-Station/Granite/Modal Analysis/accelerometer'</span>], 1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute motion - Granite</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Micro-Station/Micro Hexapod/Modal Analysis/accelerometer'</span>], 1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute Motion - Hexapod</span>
|
||||
<span class="org-comment">% io(io_i) = linio([mdl, '/Vm'], 1, 'openoutput'); io_i = io_i + 1; % Relative Velocity hexapod/granite</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-comment">% Run the linearization</span>
|
||||
G = linearize(mdl, io, 0);
|
||||
|
||||
<span class="org-comment">% We Take only the outputs corresponding to the vertical acceleration</span>
|
||||
G = G([3,9], <span class="org-type">:</span>);
|
||||
|
||||
<span class="org-comment">% Input/Output names</span>
|
||||
G.InputName = {<span class="org-string">'Dw'</span>, <span class="org-string">'Fty'</span>, <span class="org-string">'Frz'</span>};
|
||||
G.OutputName = {<span class="org-string">'Agm'</span>, <span class="org-string">'Ahm'</span>};
|
||||
|
||||
<span class="org-comment">% We integrate 1 time the output to have the velocity and we</span>
|
||||
<span class="org-comment">% substract the absolute velocities to have the relative velocity</span>
|
||||
G = (1<span class="org-type">/</span>s)<span class="org-type">*</span>tf([<span class="org-type">-</span>1, 1])<span class="org-type">*</span>G;
|
||||
|
||||
<span class="org-comment">% Input/Output names</span>
|
||||
G.InputName = {<span class="org-string">'Dw'</span>, <span class="org-string">'Fty'</span>, <span class="org-string">'Frz'</span>};
|
||||
G.OutputName = {<span class="org-string">'Vm'</span>};
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org26913fc" class="outline-2">
|
||||
<h2 id="Sensitivity-to-Disturbances"><span class="section-number-2">3</span> Sensitivity to Disturbances</h2>
|
||||
<div class="outline-text-2" id="text-Sensitivity-to-Disturbances">
|
||||
<p>
|
||||
<a id="org5636fee"></a>
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org7fe296c" class="figure">
|
||||
<p><img src="figs/sensitivity_dist_gm.png" alt="sensitivity_dist_gm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Sensitivity to Ground Motion (<a href="./figs/sensitivity_dist_gm.png">png</a>, <a href="./figs/sensitivity_dist_gm.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div id="orgce9715c" class="figure">
|
||||
<p><img src="figs/sensitivity_dist_fty.png" alt="sensitivity_dist_fty.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Sensitivity to vertical forces applied by the Ty stage (<a href="./figs/sensitivity_dist_fty.png">png</a>, <a href="./figs/sensitivity_dist_fty.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div id="orga3e6fbc" class="figure">
|
||||
<p><img src="figs/sensitivity_dist_frz.png" alt="sensitivity_dist_frz.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Sensitivity to vertical forces applied by the Rz stage (<a href="./figs/sensitivity_dist_frz.png">png</a>, <a href="./figs/sensitivity_dist_frz.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org627e5cf" class="outline-2">
|
||||
<h2 id="Power-Spectral-Density-of-the-effect-of-the-disturbances"><span class="section-number-2">4</span> Power Spectral Density of the effect of the disturbances</h2>
|
||||
<div class="outline-text-2" id="text-Power-Spectral-Density-of-the-effect-of-the-disturbances">
|
||||
<p>
|
||||
<a id="org40a7e4e"></a>
|
||||
The PSD of the relative velocity between the hexapod and the marble in \([(m/s)^2/Hz]\) are loaded for the following sources of disturbance:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Slip Ring Rotation</li>
|
||||
<li>Scan of the translation stage (effect in the vertical direction and in the horizontal direction)</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
Also, the Ground Motion is measured.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">gm = load(<span class="org-string">'./disturbances/mat/psd_gm.mat'</span>, <span class="org-string">'f'</span>, <span class="org-string">'psd_gm'</span>, <span class="org-string">'psd_gv'</span>);
|
||||
rz = load(<span class="org-string">'./disturbances/mat/pxsp_r.mat'</span>, <span class="org-string">'f'</span>, <span class="org-string">'pxsp_r'</span>);
|
||||
tyz = load(<span class="org-string">'./disturbances/mat/pxz_ty_r.mat'</span>, <span class="org-string">'f'</span>, <span class="org-string">'pxz_ty_r'</span>);
|
||||
tyx = load(<span class="org-string">'./disturbances/mat/pxe_ty_r.mat'</span>, <span class="org-string">'f'</span>, <span class="org-string">'pxe_ty_r'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We now compute the relative velocity between the hexapod and the granite due to ground motion.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">gm.psd_rv = gm.psd_gm<span class="org-type">.*</span>abs(squeeze(freqresp(G(<span class="org-string">'Vm'</span>, <span class="org-string">'Dw'</span>), gm.f, <span class="org-string">'Hz'</span>)))<span class="org-type">.^</span>2;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The Power Spectral Density of the relative motion/velocity of the hexapod with respect to the granite are shown in figures <a href="#orgb815ef2">5</a> and <a href="#org4c2c215">6</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The Cumulative Amplitude Spectrum of the relative motion is shown in figure <a href="#orgaf910f1">7</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgb815ef2" class="figure">
|
||||
<p><img src="figs/dist_effect_relative_velocity.png" alt="dist_effect_relative_velocity.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Amplitude Spectral Density of the relative velocity of the hexapod with respect to the granite due to different sources of perturbation (<a href="./figs/dist_effect_relative_velocity.png">png</a>, <a href="./figs/dist_effect_relative_velocity.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div id="org4c2c215" class="figure">
|
||||
<p><img src="figs/dist_effect_relative_motion.png" alt="dist_effect_relative_motion.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Amplitude Spectral Density of the relative displacement of the hexapod with respect to the granite due to different sources of perturbation (<a href="./figs/dist_effect_relative_motion.png">png</a>, <a href="./figs/dist_effect_relative_motion.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgaf910f1" class="figure">
|
||||
<p><img src="figs/dist_effect_relative_motion_cas.png" alt="dist_effect_relative_motion_cas.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Cumulative Amplitude Spectrum of the relative motion due to different sources of perturbation (<a href="./figs/dist_effect_relative_motion_cas.png">png</a>, <a href="./figs/dist_effect_relative_motion_cas.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge27c71b" class="outline-2">
|
||||
<h2 id="Compute-the-Power-Spectral-Density-of-the-disturbance-force"><span class="section-number-2">5</span> Compute the Power Spectral Density of the disturbance force</h2>
|
||||
<div class="outline-text-2" id="text-Compute-the-Power-Spectral-Density-of-the-disturbance-force">
|
||||
<p>
|
||||
<a id="orgd113ba5"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Now, from the extracted transfer functions from the disturbance force to the relative motion of the hexapod with respect to the granite (section <a href="#org5636fee">3</a>) and from the measured PSD of the relative motion (section <a href="#org40a7e4e">4</a>), we can compute the PSD of the disturbance force.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">rz.psd_f = rz.pxsp_r<span class="org-type">./</span>abs(squeeze(freqresp(G(<span class="org-string">'Vm'</span>, <span class="org-string">'Frz'</span>), rz.f, <span class="org-string">'Hz'</span>)))<span class="org-type">.^</span>2;
|
||||
tyz.psd_f = tyz.pxz_ty_r<span class="org-type">./</span>abs(squeeze(freqresp(G(<span class="org-string">'Vm'</span>, <span class="org-string">'Fty'</span>), tyz.f, <span class="org-string">'Hz'</span>)))<span class="org-type">.^</span>2;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org45cf35c" class="figure">
|
||||
<p><img src="figs/dist_force_psd.png" alt="dist_force_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Amplitude Spectral Density of the disturbance force (<a href="./figs/dist_force_psd.png">png</a>, <a href="./figs/dist_force_psd.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org844ca42" class="outline-2">
|
||||
<h2 id="Noise-Budget"><span class="section-number-2">6</span> Noise Budget</h2>
|
||||
<div class="outline-text-2" id="text-Noise-Budget">
|
||||
<p>
|
||||
<a id="org71da6bd"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Now, from the compute spectral density of the disturbance sources, we can compute the resulting relative motion of the Hexapod with respect to the granite using the model.
|
||||
We should verify that this is coherent with the measurements.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgcacf809" class="figure">
|
||||
<p><img src="figs/psd_effect_dist_verif.png" alt="psd_effect_dist_verif.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Computed Effect of the disturbances on the relative displacement hexapod/granite (<a href="./figs/psd_effect_dist_verif.png">png</a>, <a href="./figs/psd_effect_dist_verif.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div id="orgf872ab1" class="figure">
|
||||
<p><img src="figs/cas_computed_relative_displacement.png" alt="cas_computed_relative_displacement.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>CAS of the total Relative Displacement due to all considered sources of perturbation (<a href="./figs/cas_computed_relative_displacement.png">png</a>, <a href="./figs/cas_computed_relative_displacement.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org800eaed" class="outline-2">
|
||||
<h2 id="Save"><span class="section-number-2">7</span> Save</h2>
|
||||
<div class="outline-text-2" id="text-Save">
|
||||
<p>
|
||||
The PSD of the disturbance force are now saved for further analysis (the mat file is accessible <a href="mat/dist_psd.mat">here</a>).
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">dist_f = struct();
|
||||
|
||||
dist_f.f = gm.f; <span class="org-comment">% Frequency Vector [Hz]</span>
|
||||
|
||||
dist_f.psd_gm = gm.psd_gm; <span class="org-comment">% Power Spectral Density of the Ground Motion [m^2/Hz]</span>
|
||||
dist_f.psd_ty = tyz.psd_f; <span class="org-comment">% Power Spectral Density of the force induced by the Ty stage in the Z direction [N^2/Hz]</span>
|
||||
dist_f.psd_rz = rz.psd_f; <span class="org-comment">% Power Spectral Density of the force induced by the Rz stage in the Z direction [N^2/Hz]</span>
|
||||
|
||||
save(<span class="org-string">'./disturbances/mat/dist_psd.mat'</span>, <span class="org-string">'dist_f'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-02-25 mar. 18:08</p>
|
||||
</div>
|
||||
</body>
|
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|
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docs/experiments.html
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801
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<body>
|
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<div id="org-div-home-and-up">
|
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<a accesskey="h" href="../index.html"> UP </a>
|
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|
|
||||
<a accesskey="H" href="../index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Tomography Experiment</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#org03b2a76">1. Simscape Model</a></li>
|
||||
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
|
||||
<ul>
|
||||
<li><a href="#orgc1321b7">2.1. Simulation Setup</a></li>
|
||||
<li><a href="#orgebeb6c3">2.2. Analysis</a></li>
|
||||
<li><a href="#orge9a06c9">2.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
|
||||
<ul>
|
||||
<li><a href="#orgc6ab502">3.1. Simulation Setup</a></li>
|
||||
<li><a href="#orga551571">3.2. Analysis</a></li>
|
||||
<li><a href="#org3eee8bd">3.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
|
||||
<ul>
|
||||
<li><a href="#orga42880e">4.1. Simulation Setup</a></li>
|
||||
<li><a href="#org58e1909">4.2. Analysis</a></li>
|
||||
<li><a href="#org4670aba">4.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
|
||||
<ul>
|
||||
<li><a href="#org5778305">5.1. Simulation Setup</a></li>
|
||||
<li><a href="#org3f73a44">5.2. Analysis</a></li>
|
||||
<li><a href="#org67ff024">5.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The goal here is to simulate some scientific experiments with the tuned Simscape model when no control is applied to the nano-hexapod.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
This has several goals:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Validate the model</li>
|
||||
<li>Estimate the expected error motion for the experiments</li>
|
||||
<li>Estimate the stroke that we may need for the nano-hexapod</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
The document in organized as follow:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>In section <a href="#orgfc7d050">1</a> the Simscape model is initialized</li>
|
||||
<li>In section <a href="#org3effbb8">2</a> a tomography experiment is performed where the sample is aligned with the rotation axis. No disturbance is included</li>
|
||||
<li>In section <a href="#org4e7f626">3</a>, the same is done but with disturbance included</li>
|
||||
<li>In section <a href="#orgb31e3fb">4</a> the micro-hexapod translate the sample such that its center of mass is no longer aligned with the rotation axis. No disturbance is included</li>
|
||||
<li>In section <a href="#org6aaeb53">5</a>, scans with the translation stage are simulated with no perturbation included</li>
|
||||
</ul>
|
||||
|
||||
<div id="outline-container-org03b2a76" class="outline-2">
|
||||
<h2 id="org03b2a76"><span class="section-number-2">1</span> Simscape Model</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
<a id="orgfc7d050"></a>
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">open(<span class="org-string">'nass_model.slx'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We load the shared simulink configuration and we set the <code>StopTime</code>.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'5'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We first initialize all the stages.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(<span class="org-string">'actuator'</span>, <span class="org-string">'piezo'</span>);
|
||||
initializeSample(<span class="org-string">'mass'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path for all the stages.
|
||||
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6ed78a0" class="outline-2">
|
||||
<h2 id="org6ed78a0"><span class="section-number-2">2</span> Tomography Experiment with no disturbances</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
<a id="org3effbb8"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgc1321b7" class="outline-3">
|
||||
<h3 id="orgc1321b7"><span class="section-number-3">2.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
And we initialize the disturbances to be equal to zero.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances(...
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we save the obtained data.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">tomo_align_no_dist = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
|
||||
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>, <span class="org-string">'-append'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgebeb6c3" class="outline-3">
|
||||
<h3 id="orgebeb6c3"><span class="section-number-3">2.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<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>);
|
||||
t = tomo_align_no_dist.t;
|
||||
MTr = tomo_align_no_dist.MTr;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
|
||||
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
|
||||
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
|
||||
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
|
||||
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
|
||||
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org47272c3" class="figure">
|
||||
<p><img src="figs/exp_tomo_without_dist_trans.png" alt="exp_tomo_without_dist_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_without_dist_trans.png">png</a>, <a href="./figs/exp_tomo_without_dist_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org72f4825" class="figure">
|
||||
<p><img src="figs/exp_tomo_without_dist_rot.png" alt="exp_tomo_without_dist_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>X-Y-Z rotations of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_without_dist_rot.png">png</a>, <a href="./figs/exp_tomo_without_dist_rot.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge9a06c9" class="outline-3">
|
||||
<h3 id="orge9a06c9"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
When everything is aligned, the resulting error motion is very small (nm range) and is quite negligible with respect to the error when disturbances are included.
|
||||
This residual error motion probably comes from a small misalignment somewhere.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org16d8e58" class="outline-2">
|
||||
<h2 id="org16d8e58"><span class="section-number-2">3</span> Tomography Experiment with included perturbations</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="org4e7f626"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgc6ab502" class="outline-3">
|
||||
<h3 id="orgc6ab502"><span class="section-number-3">3.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
We now activate the disturbances.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances(...
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">true</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we save the obtained data.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">tomo_align_dist = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
|
||||
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'-append'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga551571" class="outline-3">
|
||||
<h3 id="orga551571"><span class="section-number-3">3.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<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>);
|
||||
t = tomo_align_dist.t;
|
||||
MTr = tomo_align_dist.MTr;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
|
||||
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
|
||||
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
|
||||
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
|
||||
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
|
||||
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org5b3411f" class="figure">
|
||||
<p><img src="figs/exp_tomo_dist_trans.png" alt="exp_tomo_dist_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>X-Y-Z translation of the sample w.r.t. the granite when performing tomography experiment with disturbances (<a href="./figs/exp_tomo_dist_trans.png">png</a>, <a href="./figs/exp_tomo_dist_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org7934376" class="figure">
|
||||
<p><img src="figs/exp_tomo_dist_rot.png" alt="exp_tomo_dist_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>X-Y-Z rotations of the sample w.r.t. the granite when performing tomography experiment with disturbances (<a href="./figs/exp_tomo_dist_rot.png">png</a>, <a href="./figs/exp_tomo_dist_rot.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3eee8bd" class="outline-3">
|
||||
<h3 id="org3eee8bd"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
Error motion is what expected from the disturbance measurements.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org72f01ab" class="outline-2">
|
||||
<h2 id="org72f01ab"><span class="section-number-2">4</span> Tomography when the micro-hexapod is not centered</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
<a id="orgb31e3fb"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orga42880e" class="outline-3">
|
||||
<h3 id="orga42880e"><span class="section-number-3">4.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<p>
|
||||
We first set the wanted translation of the Micro Hexapod.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">P_micro_hexapod = [0.01; 0; 0]; <span class="org-comment">% [m]</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dh_pos'</span>, [P_micro_hexapod; 0; 0; 0], <span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the stages.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeMicroHexapod(<span class="org-string">'AP'</span>, P_micro_hexapod);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we initialize the disturbances to zero.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances(...
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we save the obtained data.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">tomo_not_align = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
|
||||
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'-append'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org58e1909" class="outline-3">
|
||||
<h3 id="org58e1909"><span class="section-number-3">4.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<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>);
|
||||
t = tomo_not_align.t;
|
||||
MTr = tomo_not_align.MTr;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
|
||||
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
|
||||
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
|
||||
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
|
||||
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
|
||||
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org40355c3" class="figure">
|
||||
<p><img src="figs/exp_tomo_offset_trans.png" alt="exp_tomo_offset_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_offset_trans.png">png</a>, <a href="./figs/exp_tomo_offset_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org3f64362" class="figure">
|
||||
<p><img src="figs/exp_tomo_offset_rot.png" alt="exp_tomo_offset_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>X-Y-Z rotations of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_offset_rot.png">png</a>, <a href="./figs/exp_tomo_offset_rot.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4670aba" class="outline-3">
|
||||
<h3 id="org4670aba"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
The main motions are translations in the X direction of the mobile platform (corresponds to the eccentricity of the micro-hexapod) and rotations along the rotating Y axis.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8fa1632" class="outline-2">
|
||||
<h2 id="org8fa1632"><span class="section-number-2">5</span> Raster Scans with the translation stage</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<p>
|
||||
<a id="org6aaeb53"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org5778305" class="outline-3">
|
||||
<h3 id="org5778305"><span class="section-number-3">5.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<p>
|
||||
We set the reference path.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dy_type'</span>, <span class="org-string">'triangular'</span>, <span class="org-string">'Dy_amplitude'</span>, 10e<span class="org-type">-</span>3, <span class="org-string">'Dy_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the stages.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(<span class="org-string">'actuator'</span>, <span class="org-string">'piezo'</span>);
|
||||
initializeSample(<span class="org-string">'mass'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we initialize the disturbances to zero.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances(...
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we save the obtained data.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">ty_scan = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
|
||||
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'ty_scan'</span>, <span class="org-string">'-append'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3f73a44" class="outline-3">
|
||||
<h3 id="org3f73a44"><span class="section-number-3">5.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<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>);
|
||||
t = ty_scan.t;
|
||||
MTr = ty_scan.MTr;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
|
||||
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
|
||||
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
|
||||
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
|
||||
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
|
||||
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org042610c" class="figure">
|
||||
<p><img src="figs/exp_ty_scan_trans.png" alt="exp_ty_scan_trans.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_ty_scan_trans.png">png</a>, <a href="./figs/exp_ty_scan_trans.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org26a730c" class="figure">
|
||||
<p><img src="figs/exp_ty_scan_rot.png" alt="exp_ty_scan_rot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>X-Y-Z rotations of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_ty_scan_rot.png">png</a>, <a href="./figs/exp_ty_scan_rot.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org67ff024" class="outline-3">
|
||||
<h3 id="org67ff024"><span class="section-number-3">5.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
This is logic that the main error moving is translation along the Y axis and rotation along the X axis.
|
||||
In order to reduce the errors, we can make a smoother reference path for the translation stage.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-02-25 mar. 18:08</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
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