Add org-setup-file that all org file links to
This commit is contained in:
@@ -4,237 +4,25 @@
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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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<!-- 2020-03-13 ven. 17:39 -->
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<!-- 2020-04-17 ven. 09:36 -->
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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>Active Damping with an uni-axial model</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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<style type="text/css">
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<!--/*--><![CDATA[/*><!--*/
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.title { text-align: center;
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margin-bottom: .2em; }
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.subtitle { text-align: center;
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font-size: medium;
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font-weight: bold;
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margin-top:0; }
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.todo { font-family: monospace; color: red; }
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.done { font-family: monospace; color: green; }
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.priority { font-family: monospace; color: orange; }
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.tag { background-color: #eee; font-family: monospace;
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padding: 2px; font-size: 80%; font-weight: normal; }
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.timestamp { color: #bebebe; }
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.timestamp-kwd { color: #5f9ea0; }
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.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
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.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
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.org-center { margin-left: auto; margin-right: auto; text-align: center; }
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.underline { text-decoration: underline; }
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#postamble p, #preamble p { font-size: 90%; margin: .2em; }
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p.verse { margin-left: 3%; }
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pre {
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border: 1px solid #ccc;
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box-shadow: 3px 3px 3px #eee;
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padding: 8pt;
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font-family: monospace;
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overflow: auto;
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margin: 1.2em;
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}
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pre.src {
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position: relative;
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overflow: visible;
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padding-top: 1.2em;
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}
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pre.src:before {
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display: none;
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position: absolute;
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background-color: white;
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top: -10px;
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right: 10px;
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padding: 3px;
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border: 1px solid black;
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}
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pre.src:hover:before { display: inline;}
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/* Languages per Org manual */
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pre.src-asymptote:before { content: 'Asymptote'; }
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pre.src-awk:before { content: 'Awk'; }
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pre.src-C:before { content: 'C'; }
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/* pre.src-C++ doesn't work in CSS */
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pre.src-clojure:before { content: 'Clojure'; }
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pre.src-css:before { content: 'CSS'; }
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pre.src-D:before { content: 'D'; }
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pre.src-ditaa:before { content: 'ditaa'; }
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pre.src-dot:before { content: 'Graphviz'; }
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pre.src-calc:before { content: 'Emacs Calc'; }
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pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
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pre.src-fortran:before { content: 'Fortran'; }
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pre.src-gnuplot:before { content: 'gnuplot'; }
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pre.src-haskell:before { content: 'Haskell'; }
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pre.src-hledger:before { content: 'hledger'; }
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pre.src-java:before { content: 'Java'; }
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pre.src-js:before { content: 'Javascript'; }
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pre.src-latex:before { content: 'LaTeX'; }
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pre.src-ledger:before { content: 'Ledger'; }
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pre.src-lisp:before { content: 'Lisp'; }
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pre.src-lilypond:before { content: 'Lilypond'; }
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pre.src-lua:before { content: 'Lua'; }
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pre.src-matlab:before { content: 'MATLAB'; }
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pre.src-mscgen:before { content: 'Mscgen'; }
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pre.src-ocaml:before { content: 'Objective Caml'; }
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pre.src-octave:before { content: 'Octave'; }
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pre.src-org:before { content: 'Org mode'; }
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pre.src-oz:before { content: 'OZ'; }
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pre.src-plantuml:before { content: 'Plantuml'; }
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pre.src-processing:before { content: 'Processing.js'; }
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pre.src-python:before { content: 'Python'; }
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pre.src-R:before { content: 'R'; }
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pre.src-ruby:before { content: 'Ruby'; }
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pre.src-sass:before { content: 'Sass'; }
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pre.src-scheme:before { content: 'Scheme'; }
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pre.src-screen:before { content: 'Gnu Screen'; }
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pre.src-sed:before { content: 'Sed'; }
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pre.src-sh:before { content: 'shell'; }
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pre.src-sql:before { content: 'SQL'; }
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pre.src-sqlite:before { content: 'SQLite'; }
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/* additional languages in org.el's org-babel-load-languages alist */
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pre.src-forth:before { content: 'Forth'; }
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pre.src-io:before { content: 'IO'; }
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pre.src-J:before { content: 'J'; }
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pre.src-makefile:before { content: 'Makefile'; }
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pre.src-maxima:before { content: 'Maxima'; }
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pre.src-perl:before { content: 'Perl'; }
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pre.src-picolisp:before { content: 'Pico Lisp'; }
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pre.src-scala:before { content: 'Scala'; }
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pre.src-shell:before { content: 'Shell Script'; }
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pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
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/* additional language identifiers per "defun org-babel-execute"
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in ob-*.el */
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pre.src-cpp:before { content: 'C++'; }
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pre.src-abc:before { content: 'ABC'; }
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pre.src-coq:before { content: 'Coq'; }
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pre.src-groovy:before { content: 'Groovy'; }
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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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the execution function name together. */
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pre.src-bash:before { content: 'bash'; }
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pre.src-csh:before { content: 'csh'; }
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pre.src-ash:before { content: 'ash'; }
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pre.src-dash:before { content: 'dash'; }
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pre.src-ksh:before { content: 'ksh'; }
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pre.src-mksh:before { content: 'mksh'; }
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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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pre.src-ada:before { content: 'Ada'; }
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pre.src-asm:before { content: 'Assembler'; }
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pre.src-caml:before { content: 'Caml'; }
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pre.src-delphi:before { content: 'Delphi'; }
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pre.src-html:before { content: 'HTML'; }
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pre.src-idl:before { content: 'IDL'; }
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pre.src-mercury:before { content: 'Mercury'; }
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pre.src-metapost:before { content: 'MetaPost'; }
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pre.src-modula-2:before { content: 'Modula-2'; }
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pre.src-pascal:before { content: 'Pascal'; }
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pre.src-ps:before { content: 'PostScript'; }
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pre.src-prolog:before { content: 'Prolog'; }
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pre.src-simula:before { content: 'Simula'; }
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pre.src-tcl:before { content: 'tcl'; }
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pre.src-tex:before { content: 'TeX'; }
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pre.src-plain-tex:before { content: 'Plain TeX'; }
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pre.src-verilog:before { content: 'Verilog'; }
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pre.src-vhdl:before { content: 'VHDL'; }
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pre.src-xml:before { content: 'XML'; }
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pre.src-nxml:before { content: 'XML'; }
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/* add a generic configuration mode; LaTeX export needs an additional
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(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
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pre.src-conf:before { content: 'Configuration File'; }
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table { border-collapse:collapse; }
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caption.t-above { caption-side: top; }
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caption.t-bottom { caption-side: bottom; }
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td, th { vertical-align:top; }
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th.org-right { text-align: center; }
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th.org-left { text-align: center; }
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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-left { text-align: left; }
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td.org-center { text-align: center; }
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dt { font-weight: bold; }
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.footpara { display: inline; }
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.footdef { margin-bottom: 1em; }
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.figure { padding: 1em; }
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.figure p { text-align: center; }
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.equation-container {
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display: table;
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text-align: center;
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width: 100%;
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}
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.equation {
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vertical-align: middle;
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}
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.equation-label {
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display: table-cell;
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text-align: right;
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vertical-align: middle;
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}
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.inlinetask {
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padding: 10px;
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border: 2px solid gray;
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margin: 10px;
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background: #ffffcc;
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}
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#org-div-home-and-up
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{ text-align: right; font-size: 70%; white-space: nowrap; }
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textarea { overflow-x: auto; }
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.linenr { font-size: smaller }
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.code-highlighted { background-color: #ffff00; }
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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; }
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.org-info-js_search-highlight
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{ background-color: #ffff00; color: #000000; font-weight: bold; }
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.org-svg { width: 90%; }
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/*]]>*/-->
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</style>
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<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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<script type="text/javascript" src="./js/jquery.min.js"></script>
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<script type="text/javascript" src="./js/bootstrap.min.js"></script>
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<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
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<script type="text/javascript" src="./js/readtheorg.js"></script>
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<script type="text/javascript">
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// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
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<!--/*--><![CDATA[/*><!--*/
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function CodeHighlightOn(elem, id)
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}
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/*]]>*///-->
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// @license-end
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</script>
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<script>
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MathJax = {
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tex: { macros: {
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bm: ["\\boldsymbol{#1}",1],
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}
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}
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<script src="./js/jquery.min.js"></script>
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<script src="./js/bootstrap.min.js"></script>
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||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
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<script src="./js/readtheorg.js"></script>
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<script>MathJax = {
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tex: {
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<script type="text/javascript"
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src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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</head>
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<body>
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<div id="org-div-home-and-up">
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@@ -251,63 +39,63 @@
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<ul>
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<li><a href="#org7409841">1.1. Init</a></li>
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<li><a href="#org7514f31">1.2. Identification</a></li>
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<li><a href="#org380e20f">1.3. Sensitivity to disturbances</a></li>
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<li><a href="#org5ffc5f1">1.3. Sensitivity to disturbances</a></li>
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<li><a href="#orgdda82c0">1.4. Undamped Plant</a></li>
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</ul>
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</li>
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<li><a href="#org5a3389e">2. Integral Force Feedback</a>
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<ul>
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<li><a href="#orgbaae6a1">2.1. One degree-of-freedom example</a>
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<li><a href="#orgbe39d04">2.1. One degree-of-freedom example</a>
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<ul>
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<li><a href="#orgc436f05">2.1.1. Equations</a></li>
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<li><a href="#org238893b">2.1.2. Matlab Example</a></li>
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<li><a href="#orgdb4e3a8">2.1.1. Equations</a></li>
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<li><a href="#orgeec7ed9">2.1.2. Matlab Example</a></li>
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</ul>
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</li>
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<li><a href="#org824be47">2.2. Control Design</a></li>
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<li><a href="#orgfdd4556">2.3. Identification of the damped plant</a></li>
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<li><a href="#org4802ab9">2.4. Sensitivity to disturbances</a></li>
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<li><a href="#org2cbe422">2.5. Damped Plant</a></li>
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<li><a href="#orgdade398">2.6. Conclusion</a></li>
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<li><a href="#org767264d">2.2. Control Design</a></li>
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<li><a href="#org945fe08">2.3. Identification of the damped plant</a></li>
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<li><a href="#orgfd53164">2.4. Sensitivity to disturbances</a></li>
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<li><a href="#org685bc2a">2.5. Damped Plant</a></li>
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||||
<li><a href="#org6b26d75">2.6. Conclusion</a></li>
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</ul>
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</li>
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||||
<li><a href="#orgc4ca1b5">3. Relative Motion Control</a>
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<ul>
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||||
<li><a href="#org39a3687">3.1. One degree-of-freedom example</a>
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||||
<li><a href="#org54d13d6">3.1. One degree-of-freedom example</a>
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||||
<ul>
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||||
<li><a href="#org994b142">3.1.1. Equations</a></li>
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||||
<li><a href="#org6a1f411">3.1.2. Matlab Example</a></li>
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||||
<li><a href="#org54758f7">3.1.1. Equations</a></li>
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||||
<li><a href="#org31ae910">3.1.2. Matlab Example</a></li>
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||||
</ul>
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||||
</li>
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||||
<li><a href="#org13a97a7">3.2. Control Design</a></li>
|
||||
<li><a href="#orge00b37b">3.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#orgcd3874b">3.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#orgfcc3787">3.5. Damped Plant</a></li>
|
||||
<li><a href="#org37ceb38">3.6. Conclusion</a></li>
|
||||
<li><a href="#orga66a259">3.2. Control Design</a></li>
|
||||
<li><a href="#org6a2522d">3.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#org164a6e3">3.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org5f7ca3b">3.5. Damped Plant</a></li>
|
||||
<li><a href="#org7e0c0fc">3.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org3cc03b0">4. Direct Velocity Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#org20ee26e">4.1. One degree-of-freedom example</a>
|
||||
<li><a href="#org77792c1">4.1. One degree-of-freedom example</a>
|
||||
<ul>
|
||||
<li><a href="#org0d2ea8d">4.1.1. Equations</a></li>
|
||||
<li><a href="#orgaddbb82">4.1.2. Matlab Example</a></li>
|
||||
<li><a href="#org82cc039">4.1.1. Equations</a></li>
|
||||
<li><a href="#org935ed32">4.1.2. Matlab Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgf1bd80b">4.2. Control Design</a></li>
|
||||
<li><a href="#org54ebde8">4.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#org454c0c8">4.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org5f21dd1">4.5. Damped Plant</a></li>
|
||||
<li><a href="#org53572a3">4.6. Conclusion</a></li>
|
||||
<li><a href="#org6a45963">4.2. Control Design</a></li>
|
||||
<li><a href="#org9b2a9e2">4.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#org7d01fa7">4.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org91db5e4">4.5. Damped Plant</a></li>
|
||||
<li><a href="#org228bb9f">4.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org21441bc">5. Comparison</a>
|
||||
<ul>
|
||||
<li><a href="#orgbe907b4">5.1. Load the plants</a></li>
|
||||
<li><a href="#orgde6308d">5.2. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#orga1cf9f2">5.3. Damped Plant</a></li>
|
||||
<li><a href="#org1de78b5">5.3. Damped Plant</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org4d89cbd">6. Conclusion</a></li>
|
||||
<li><a href="#org1ff0703">6. Conclusion</a></li>
|
||||
</ul>
|
||||
</div>
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||||
</div>
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||||
@@ -421,8 +209,8 @@ And we save it for further analysis.
|
||||
</div>
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||||
</div>
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||||
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||||
<div id="outline-container-org380e20f" class="outline-3">
|
||||
<h3 id="org380e20f"><span class="section-number-3">1.3</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-org5ffc5f1" class="outline-3">
|
||||
<h3 id="org5ffc5f1"><span class="section-number-3">1.3</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<p>
|
||||
The sensitivity to disturbances are shown on figure <a href="#orgcf7fa15">1</a>.
|
||||
@@ -480,15 +268,15 @@ Then, it is applied on the simscape model.
|
||||
</p>
|
||||
</div>
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||||
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||||
<div id="outline-container-orgbaae6a1" class="outline-3">
|
||||
<h3 id="orgbaae6a1"><span class="section-number-3">2.1</span> One degree-of-freedom example</h3>
|
||||
<div id="outline-container-orgbe39d04" class="outline-3">
|
||||
<h3 id="orgbe39d04"><span class="section-number-3">2.1</span> One degree-of-freedom example</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
<a id="org7f37ded"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgc436f05" class="outline-4">
|
||||
<h4 id="orgc436f05"><span class="section-number-4">2.1.1</span> Equations</h4>
|
||||
<div id="outline-container-orgdb4e3a8" class="outline-4">
|
||||
<h4 id="orgdb4e3a8"><span class="section-number-4">2.1.1</span> Equations</h4>
|
||||
<div class="outline-text-4" id="text-2-1-1">
|
||||
|
||||
<div id="org1acdc30" class="figure">
|
||||
@@ -554,8 +342,8 @@ This is attainable if we have:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org238893b" class="outline-4">
|
||||
<h4 id="org238893b"><span class="section-number-4">2.1.2</span> Matlab Example</h4>
|
||||
<div id="outline-container-orgeec7ed9" class="outline-4">
|
||||
<h4 id="orgeec7ed9"><span class="section-number-4">2.1.2</span> Matlab Example</h4>
|
||||
<div class="outline-text-4" id="text-2-1-2">
|
||||
<p>
|
||||
Let define the system parameters.
|
||||
@@ -618,8 +406,8 @@ And the closed loop system is computed below.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org824be47" class="outline-3">
|
||||
<h3 id="org824be47"><span class="section-number-3">2.2</span> Control Design</h3>
|
||||
<div id="outline-container-org767264d" class="outline-3">
|
||||
<h3 id="org767264d"><span class="section-number-3">2.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -661,8 +449,8 @@ The corresponding loop gains are shown in figure <a href="#org36e3a94">7</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfdd4556" class="outline-3">
|
||||
<h3 id="orgfdd4556"><span class="section-number-3">2.3</span> Identification of the damped plant</h3>
|
||||
<div id="outline-container-org945fe08" class="outline-3">
|
||||
<h3 id="org945fe08"><span class="section-number-3">2.3</span> Identification of the damped plant</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -715,8 +503,8 @@ And we save the damped plant for further analysis
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4802ab9" class="outline-3">
|
||||
<h3 id="org4802ab9"><span class="section-number-3">2.4</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-orgfd53164" class="outline-3">
|
||||
<h3 id="orgfd53164"><span class="section-number-3">2.4</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<p>
|
||||
As shown on figure <a href="#org38217ee">8</a>:
|
||||
@@ -752,8 +540,8 @@ For instance, the plots are not the same when using <code>minreal</code>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2cbe422" class="outline-3">
|
||||
<h3 id="org2cbe422"><span class="section-number-3">2.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-org685bc2a" class="outline-3">
|
||||
<h3 id="org685bc2a"><span class="section-number-3">2.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-2-5">
|
||||
<p>
|
||||
Now, look at the new damped plant to control.
|
||||
@@ -782,8 +570,8 @@ However, it increases coupling at low frequency (figure <a href="#org8017b2f">11
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdade398" class="outline-3">
|
||||
<h3 id="orgdade398"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org6b26d75" class="outline-3">
|
||||
<h3 id="org6b26d75"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -817,15 +605,15 @@ In the Relative Motion Control (RMC), a derivative feedback is applied between t
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org39a3687" class="outline-3">
|
||||
<h3 id="org39a3687"><span class="section-number-3">3.1</span> One degree-of-freedom example</h3>
|
||||
<div id="outline-container-org54d13d6" class="outline-3">
|
||||
<h3 id="org54d13d6"><span class="section-number-3">3.1</span> One degree-of-freedom example</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
<a id="org6f16e09"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org994b142" class="outline-4">
|
||||
<h4 id="org994b142"><span class="section-number-4">3.1.1</span> Equations</h4>
|
||||
<div id="outline-container-org54758f7" class="outline-4">
|
||||
<h4 id="org54758f7"><span class="section-number-4">3.1.1</span> Equations</h4>
|
||||
<div class="outline-text-4" id="text-3-1-1">
|
||||
|
||||
<div id="org64900ec" class="figure">
|
||||
@@ -884,8 +672,8 @@ This corresponds to a gain:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6a1f411" class="outline-4">
|
||||
<h4 id="org6a1f411"><span class="section-number-4">3.1.2</span> Matlab Example</h4>
|
||||
<div id="outline-container-org31ae910" class="outline-4">
|
||||
<h4 id="org31ae910"><span class="section-number-4">3.1.2</span> Matlab Example</h4>
|
||||
<div class="outline-text-4" id="text-3-1-2">
|
||||
<p>
|
||||
Let define the system parameters.
|
||||
@@ -948,8 +736,8 @@ And the closed loop system is computed below.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org13a97a7" class="outline-3">
|
||||
<h3 id="org13a97a7"><span class="section-number-3">3.2</span> Control Design</h3>
|
||||
<div id="outline-container-orga66a259" class="outline-3">
|
||||
<h3 id="orga66a259"><span class="section-number-3">3.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -992,8 +780,8 @@ The obtained loop gains are shown in figure <a href="#orga5b8f12">15</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge00b37b" class="outline-3">
|
||||
<h3 id="orge00b37b"><span class="section-number-3">3.3</span> Identification of the damped plant</h3>
|
||||
<div id="outline-container-org6a2522d" class="outline-3">
|
||||
<h3 id="org6a2522d"><span class="section-number-3">3.3</span> Identification of the damped plant</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1046,8 +834,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcd3874b" class="outline-3">
|
||||
<h3 id="orgcd3874b"><span class="section-number-3">3.4</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-org164a6e3" class="outline-3">
|
||||
<h3 id="org164a6e3"><span class="section-number-3">3.4</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<p>
|
||||
As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering the sensitivity to disturbances near resonance of the system.
|
||||
@@ -1069,8 +857,8 @@ As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfcc3787" class="outline-3">
|
||||
<h3 id="orgfcc3787"><span class="section-number-3">3.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-org5f7ca3b" class="outline-3">
|
||||
<h3 id="org5f7ca3b"><span class="section-number-3">3.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
|
||||
<div id="org2267bd4" class="figure">
|
||||
@@ -1081,8 +869,8 @@ As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org37ceb38" class="outline-3">
|
||||
<h3 id="org37ceb38"><span class="section-number-3">3.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org7e0c0fc" class="outline-3">
|
||||
<h3 id="org7e0c0fc"><span class="section-number-3">3.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1114,15 +902,15 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org20ee26e" class="outline-3">
|
||||
<h3 id="org20ee26e"><span class="section-number-3">4.1</span> One degree-of-freedom example</h3>
|
||||
<div id="outline-container-org77792c1" class="outline-3">
|
||||
<h3 id="org77792c1"><span class="section-number-3">4.1</span> One degree-of-freedom example</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<p>
|
||||
<a id="org3a699cb"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org0d2ea8d" class="outline-4">
|
||||
<h4 id="org0d2ea8d"><span class="section-number-4">4.1.1</span> Equations</h4>
|
||||
<div id="outline-container-org82cc039" class="outline-4">
|
||||
<h4 id="org82cc039"><span class="section-number-4">4.1.1</span> Equations</h4>
|
||||
<div class="outline-text-4" id="text-4-1-1">
|
||||
|
||||
<div id="org93ae6e4" class="figure">
|
||||
@@ -1181,8 +969,8 @@ This corresponds to a gain:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgaddbb82" class="outline-4">
|
||||
<h4 id="orgaddbb82"><span class="section-number-4">4.1.2</span> Matlab Example</h4>
|
||||
<div id="outline-container-org935ed32" class="outline-4">
|
||||
<h4 id="org935ed32"><span class="section-number-4">4.1.2</span> Matlab Example</h4>
|
||||
<div class="outline-text-4" id="text-4-1-2">
|
||||
<p>
|
||||
Let define the system parameters.
|
||||
@@ -1269,8 +1057,8 @@ The obtained sensitivity to disturbances is shown in figure <a href="#org1c3277a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf1bd80b" class="outline-3">
|
||||
<h3 id="orgf1bd80b"><span class="section-number-3">4.2</span> Control Design</h3>
|
||||
<div id="outline-container-org6a45963" class="outline-3">
|
||||
<h3 id="org6a45963"><span class="section-number-3">4.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -1309,8 +1097,8 @@ The controller is defined below and the obtained loop gain is shown in figure <a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org54ebde8" class="outline-3">
|
||||
<h3 id="org54ebde8"><span class="section-number-3">4.3</span> Identification of the damped plant</h3>
|
||||
<div id="outline-container-org9b2a9e2" class="outline-3">
|
||||
<h3 id="org9b2a9e2"><span class="section-number-3">4.3</span> Identification of the damped plant</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1363,8 +1151,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org454c0c8" class="outline-3">
|
||||
<h3 id="org454c0c8"><span class="section-number-3">4.4</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-org7d01fa7" class="outline-3">
|
||||
<h3 id="org7d01fa7"><span class="section-number-3">4.4</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
|
||||
<div id="org2558226" class="figure">
|
||||
@@ -1383,8 +1171,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5f21dd1" class="outline-3">
|
||||
<h3 id="org5f21dd1"><span class="section-number-3">4.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-org91db5e4" class="outline-3">
|
||||
<h3 id="org91db5e4"><span class="section-number-3">4.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-4-5">
|
||||
|
||||
<div id="org2fa3671" class="figure">
|
||||
@@ -1395,8 +1183,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org53572a3" class="outline-3">
|
||||
<h3 id="org53572a3"><span class="section-number-3">4.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org228bb9f" class="outline-3">
|
||||
<h3 id="org228bb9f"><span class="section-number-3">4.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1467,8 +1255,8 @@ Direct Velocity Feedback:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga1cf9f2" class="outline-3">
|
||||
<h3 id="orga1cf9f2"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
||||
<div id="outline-container-org1de78b5" class="outline-3">
|
||||
<h3 id="org1de78b5"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
|
||||
<div id="org043ecf3" class="figure">
|
||||
@@ -1494,8 +1282,8 @@ Direct Velocity Feedback:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4d89cbd" class="outline-2">
|
||||
<h2 id="org4d89cbd"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div id="outline-container-org1ff0703" class="outline-2">
|
||||
<h2 id="org1ff0703"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<p>
|
||||
<a id="org58549a4"></a>
|
||||
@@ -1505,7 +1293,7 @@ Direct Velocity Feedback:
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-13 ven. 17:39</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:36</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user