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Update files for new definition of hexapods

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Thomas Dehaeze
2020-05-05 11:38:52 +02:00
parent 2deb41939d
commit f7714a1449
33 changed files with 4627 additions and 2915 deletions
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docs/uncertainty_optimal_stiffness.html
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@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-04-17 ven. 09:35 -->
<!-- 2020-05-05 mar. 10:33 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Determination of the optimal nano-hexapod&rsquo;s stiffness</title>
<meta name="generator" content="Org mode" />
@@ -37,7 +37,7 @@
<ul>
<li><a href="#org157c07d">1. Spindle Rotation Speed</a>
<ul>
<li><a href="#orgf8f2ffc">1.1. Initialization</a></li>
<li><a href="#orgd45a5be">1.1. Initialization</a></li>
<li><a href="#org687bdef">1.2. Identification when rotating at maximum speed</a></li>
<li><a href="#org7dcfddb">1.3. Change of dynamics</a></li>
</ul>
@@ -52,7 +52,7 @@
</li>
<li><a href="#org19559b0">3. Payload &ldquo;Impedance&rdquo; Effect</a>
<ul>
<li><a href="#orgd45a5be">3.1. Initialization</a></li>
<li><a href="#org654fcb6">3.1. Initialization</a></li>
<li><a href="#org73f1c6e">3.2. Identification of the dynamics while change the payload dynamics</a></li>
<li><a href="#orgd7a519b">3.3. Change of dynamics for the primary controller</a>
<ul>
@@ -109,8 +109,8 @@ The rotation speed will have an effect due to the Coriolis effect.
</p>
</div>
<div id="outline-container-orgf8f2ffc" class="outline-3">
<h3 id="orgf8f2ffc"><span class="section-number-3">1.1</span> Initialization</h3>
<div id="outline-container-orgd45a5be" class="outline-3">
<h3 id="orgd45a5be"><span class="section-number-3">1.1</span> Initialization</h3>
<div class="outline-text-3" id="text-1-1">
<p>
We initialize all the stages with the default parameters.
@@ -131,7 +131,7 @@ initializeMirror();
We use a sample mass of 10kg.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSample(<span class="org-string">'mass'</span>, 10);
<pre class="src src-matlab">initializeSample('mass', 10);
</pre>
</div>
@@ -140,9 +140,9 @@ We don&rsquo;t include disturbances in this model as it adds complexity to the s
We however include gravity.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">true</span>);
initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'none'</span>);
<pre class="src src-matlab">initializeSimscapeConfiguration('gravity', true);
initializeDisturbances('enable', false);
initializeLoggingConfiguration('log', 'none');
initializeController();
</pre>
</div>
@@ -164,7 +164,7 @@ We identify the dynamics for the following spindle rotation speeds <code>Rz_rpm<
And for the following nano-hexapod actuator stiffness <code>Ks</code>:
</p>
<div class="org-src-container">
<pre class="src src-matlab">Ks = logspace(3,9,7); <span class="org-comment">% [N/m]</span>
<pre class="src src-matlab">Ks = logspace(3,9,7); % [N/m]
</pre>
</div>
</div>
@@ -262,7 +262,7 @@ initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod(<span class="org-string">'type'</span>, <span class="org-string">'compliance'</span>);
initializeMicroHexapod('type', 'compliance');
</pre>
</div>
@@ -270,10 +270,10 @@ initializeMicroHexapod(<span class="org-string">'type'</span>, <span class="org-
We put nothing on top of the micro-hexapod.
</p>
<div class="org-src-container">
<pre class="src src-matlab">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 class="src src-matlab">initializeAxisc('type', 'none');
initializeMirror('type', 'none');
initializeNanoHexapod('type', 'none');
initializeSample('type', 'none');
</pre>
</div>
@@ -300,7 +300,7 @@ This is equivalent of identifying the dynamics of the nano-hexapod when fixed to
We also choose the sample to be rigid and to have a mass of 10kg.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSample(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'mass'</span>, 10);
<pre class="src src-matlab">initializeSample('type', 'rigid', 'mass', 10);
</pre>
</div>
@@ -308,7 +308,7 @@ We also choose the sample to be rigid and to have a mass of 10kg.
As before, we identify the dynamics for the following actuator stiffnesses:
</p>
<div class="org-src-container">
<pre class="src src-matlab">Ks = logspace(3,9,7); <span class="org-comment">% [N/m]</span>
<pre class="src src-matlab">Ks = logspace(3,9,7); % [N/m]
</pre>
</div>
</div>
@@ -386,15 +386,15 @@ When the nano-hexapod is stiff (\(k>10^7\ [N/m]\)), the compliance of the micro-
</p>
</div>
<div id="outline-container-orgd45a5be" class="outline-3">
<h3 id="orgd45a5be"><span class="section-number-3">3.1</span> Initialization</h3>
<div id="outline-container-org654fcb6" class="outline-3">
<h3 id="org654fcb6"><span class="section-number-3">3.1</span> Initialization</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We initialize all the stages with the default parameters.
We don&rsquo;t include disturbances in this model as it adds complexity to the simulations and does not alter the obtained dynamics. :exports none
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
<pre class="src src-matlab">initializeDisturbances('enable', false);
</pre>
</div>
@@ -402,9 +402,9 @@ We don&rsquo;t include disturbances in this model as it adds complexity to the s
We set the controller type to Open-Loop, and we do not need to log any signal.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">true</span>);
<pre class="src src-matlab">initializeSimscapeConfiguration('gravity', true);
initializeController();
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'none'</span>);
initializeLoggingConfiguration('log', 'none');
initializeReferences();
</pre>
</div>
@@ -427,8 +427,8 @@ We make the following change of payload dynamics:
We identify the dynamics for the following payload masses <code>Ms</code> and nano-hexapod leg&rsquo;s stiffnesses <code>Ks</code>:
</p>
<div class="org-src-container">
<pre class="src src-matlab">Ms = [1, 20, 50]; <span class="org-comment">% [Kg]</span>
Ks = logspace(3,9,7); <span class="org-comment">% [N/m]</span>
<pre class="src src-matlab">Ms = [1, 20, 50]; % [Kg]
Ks = logspace(3,9,7); % [N/m]
</pre>
</div>
@@ -436,7 +436,7 @@ Ks = logspace(3,9,7); <span class="org-comment">% [N/m]</span>
We then identify the dynamics for the following payload resonance frequencies <code>Fs</code>:
</p>
<div class="org-src-container">
<pre class="src src-matlab">Fs = [50, 200, 500]; <span class="org-comment">% [Hz]</span>
<pre class="src src-matlab">Fs = [50, 200, 500]; % [Hz]
</pre>
</div>
</div>
@@ -629,7 +629,7 @@ And finally, in Figures <a href="#orge05feb5">21</a> and <a href="#org17c5c95">2
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-04-17 ven. 09:35</p>
<p class="date">Created: 2020-05-05 mar. 10:33</p>
</div>
</body>
</html>