1.1 Identification of the dynamics for Active Damping
-
@@ -275,7 +275,7 @@ And we save them for further analysis.
1.1.1 Identification
+
+
@@ -265,7 +265,7 @@ G_ine = minreal(G({'Vnlm1',
-
1.1.1 Identification
We initialize all the stages with the default parameters.
@@ -228,26 +228,26 @@ We initialize all the stages with the default parameters.
We identify the dynamics of the system using the linearize function.
-
@@ -255,9 +255,9 @@ G.OutputName = {'Dnlm1',
-%% Options for Linearized +%% Options for Linearized options = linearizeOptions; options.SampleTime = 0; -%% Name of the Simulink File -mdl = 'nass_model'; +%% Name of the Simulink File +mdl = 'nass_model'; -%% Input/Output definition +%% Input/Output definition clear io; io_i = 1; -io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs -io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Relative Motion Outputs -io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; % Force Sensors -io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; % Absolute Velocity Outputs +io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs +io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Relative Motion Outputs +io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; % Force Sensors +io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; % Absolute Velocity Outputs -%% Run the linearization +%% Run the linearization G = linearize(mdl, io, 0.5, options); -G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; -G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ... - 'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ... - 'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}; +G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; +G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ... + 'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ... + 'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
G_iff = minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
-G_dvf = minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
-G_ine = minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
+G_iff = minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
+G_dvf = minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
+G_ine = minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
save('./mat/active_damping_undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
+save('./mat/active_damping_undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
1.1.2 Obtained Plants for Active Damping
-
@@ -307,8 +307,8 @@ And we save them for further analysis.
load('./mat/active_damping_undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
+load('./mat/active_damping_undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
1.2 Identification of the dynamics for High Authority Control
-
1.2.1 Identification
+
+
@@ -355,7 +355,7 @@ And we save them for further analysis.
-1.2.1 Identification
We initialize all the stages with the default parameters.
@@ -322,22 +322,22 @@ We initialize all the stages with the default parameters.
We identify the dynamics of the system using the linearize function.
-
%% Options for Linearized +%% Options for Linearized options = linearizeOptions; options.SampleTime = 0; -%% Name of the Simulink File -mdl = 'nass_model'; +%% Name of the Simulink File +mdl = 'nass_model'; -%% Input/Output definition +%% Input/Output definition clear io; io_i = 1; -io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs -io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs +io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs +io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
-
@@ -345,7 +345,7 @@ io(io_i) = linio([mdl, '/Tracking Error'], 1, masses = [1, 10, 50]; % [kg] +masses = [1, 10, 50]; % [kg]
-
save('./mat/active_damping_cart_plants.mat', 'G_cart', 'masses');
+save('./mat/active_damping_cart_plants.mat', 'G_cart', 'masses');
1.2.2 Obtained Plants
-
@@ -377,8 +377,8 @@ And we save them for further analysis.
load('./mat/active_damping_cart_plants.mat', 'G_cart', 'masses');
+load('./mat/active_damping_cart_plants.mat', 'G_cart', 'masses');
-
-1.3 Tomography Experiment
+
+
1.3 Tomography Experiment
@@ -396,8 +396,8 @@ We initialize elements for the tomography experiment.
We change the simulation stop time.
@@ -426,9 +426,9 @@ Finally, we save the simulation results for further analysis
We load the results of tomography experiments.
-
@@ -405,7 +405,7 @@ We change the simulation stop time.
And we simulate the system.
load('mat/conf_simulink.mat');
-set_param(conf_simulink, 'StopTime', '4.5');
+load('mat/conf_simulink.mat');
+set_param(conf_simulink, 'StopTime', '4.5');
-
@@ -413,7 +413,7 @@ And we simulate the system.
Finally, we save the simulation results for further analysis
sim('nass_model');
+sim('nass_model');
-
save('./mat/active_damping_tomo_exp.mat', 'En', 'Eg', '-append');
+save('./mat/active_damping_tomo_exp.mat', 'En', 'Eg', '-append');
-
@@ -495,7 +495,7 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following sample mass.
load('./mat/active_damping_tomo_exp.mat', 'En');
-Fs = 1e3; % Sampling Frequency of the Data
-t = (1/Fs)*[0:length(En(:,1))-1];
+load('./mat/active_damping_tomo_exp.mat', 'En');
+Fs = 1e3; % Sampling Frequency of the Data
+t = (1/Fs)*[0:length(En(:,1))-1];
-
@@ -539,7 +539,7 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following Spindle angles.
masses = [1, 10, 50]; % [kg] +masses = [1, 10, 50]; % [kg]
-
@@ -583,7 +583,7 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following Spindle rotation periods.
Rz_amplitudes = [0, pi/4, pi/2, pi]; % [rad] +Rz_amplitudes = [0, pi/4, pi/2, pi]; % [rad]
-
@@ -676,7 +676,7 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following Tilt stage angles.
Rz_periods = [60, 6, 2, 1]; % [s] +Rz_periods = [60, 6, 2, 1]; % [s]
-
@@ -723,9 +723,9 @@ We initialize all the stages with the default parameters.
We initialize the translation stage reference to be a sinus with an amplitude of 5mm and a period of 1s (Figure 25).
Ry_amplitudes = [-3*pi/180, 3*pi/180]; % [rad] +Ry_amplitudes = [-3*pi/180, 3*pi/180]; % [rad]
-
@@ -766,8 +766,8 @@ We identify the dynamics at different positions (times) when scanning with the T
initializeReferences('Dy_type', 'sinusoidal', ...
- 'Dy_amplitude', 5e-3, ... % [m]
- 'Dy_period', 1); % [s]
+initializeReferences('Dy_type', 'sinusoidal', ...
+ 'Dy_amplitude', 5e-3, ... % [m]
+ 'Dy_period', 1); % [s]
-
2.6 Conclusion
+
+
+
+
+
+
+
+
+
+
@@ -1225,74 +1225,120 @@ The 
@@ -1716,95 +1763,139 @@ The