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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<!-- 2020-04-01 mer. 16:16 -->
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<!-- 2020-04-17 ven. 09:35 -->
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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 with Voice coil actuators</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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/* additional language identifiers per "defun org-babel-execute"
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in ob-*.el */
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ob-shell.el: ob-shell is the only babel language using a lambda to put
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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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#org-div-home-and-up
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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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MathJax = {
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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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@@ -249,10 +37,10 @@
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<ul>
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<li><a href="#orge379987">1. HAC-LAC + Cascade Control Topology</a>
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<ul>
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<li><a href="#org6d5d6b2">1.1. Initialization</a></li>
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<li><a href="#orgf283080">1.1. Initialization</a></li>
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<li><a href="#orgf95b045">1.2. Low Authority Control - Integral Force Feedback \(\bm{K}_\text{IFF}\)</a>
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<ul>
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<li><a href="#orge9b2f08">1.2.1. Identification</a></li>
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<li><a href="#orgac9efbf">1.2.1. Identification</a></li>
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<li><a href="#org203d651">1.2.2. Plant</a></li>
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<li><a href="#orgccc21d2">1.2.3. Root Locus</a></li>
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<li><a href="#org1a8ee8a">1.2.4. Controller and Loop Gain</a></li>
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@@ -261,49 +49,49 @@
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<li><a href="#org2a44e66">1.3. High Authority Control in the joint space - \(\bm{K}_\mathcal{L}\)</a>
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<ul>
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<li><a href="#org989c2e9">1.3.1. Identification of the damped plant</a></li>
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<li><a href="#org45829b7">1.3.2. Obtained Plant</a></li>
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<li><a href="#org8d7c208">1.3.2. Obtained Plant</a></li>
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<li><a href="#orgd1632cf">1.3.3. Controller Design and Loop Gain</a></li>
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</ul>
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</li>
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<li><a href="#org0cd0c63">1.4. Primary Controller in the task space - \(\bm{K}_\mathcal{X}\)</a>
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<ul>
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<li><a href="#orga960106">1.4.1. Identification of the linearized plant</a></li>
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<li><a href="#org40a9335">1.4.2. Obtained Plant</a></li>
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<li><a href="#org6b17d02">1.4.2. Obtained Plant</a></li>
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<li><a href="#org16f56fa">1.4.3. Controller Design</a></li>
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</ul>
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</li>
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<li><a href="#org0b05a3a">1.5. Simulation</a></li>
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<li><a href="#orga259533">1.5. Simulation</a></li>
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<li><a href="#org16024e0">1.6. Results</a>
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<ul>
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<li><a href="#orge126fd7">1.6.1. Load the simulation results</a></li>
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<li><a href="#orgf2436dc">1.6.1. Load the simulation results</a></li>
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<li><a href="#org0f974ff">1.6.2. Control effort</a></li>
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<li><a href="#org83a367c">1.6.3. Load the simulation results</a></li>
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<li><a href="#org8e90e5a">1.6.3. Load the simulation results</a></li>
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||||
</ul>
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||||
</li>
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||||
<li><a href="#org74d9dc7">1.7. Compliance of the nano-hexapod</a>
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<ul>
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<li><a href="#orgbdd14c0">1.7.1. Identification</a></li>
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||||
<li><a href="#orgc6f70c3">1.7.1. Identification</a></li>
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||||
<li><a href="#org1a1ad20">1.7.2. Obtained Compliance</a></li>
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||||
<li><a href="#org5b81db9">1.7.3. Comparison with Piezo</a></li>
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||||
</ul>
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||||
</li>
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||||
<li><a href="#org3652c0c">1.8. Robustness to Payload Variability</a>
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||||
<li><a href="#org36ac22b">1.8. Robustness to Payload Variability</a>
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||||
<ul>
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||||
<li><a href="#orgecf0445">1.8.1. Initialization</a></li>
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||||
<li><a href="#orgcaec167">1.8.1. Initialization</a></li>
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||||
<li><a href="#org0d97c55">1.8.2. Low Authority Control</a></li>
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||||
<li><a href="#orgab3ab98">1.8.3. High Authority Control</a></li>
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||||
<li><a href="#org176695a">1.8.4. Primary Plant</a></li>
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||||
<li><a href="#org049fbc5">1.8.5. Simulation</a></li>
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||||
<li><a href="#org9406388">1.8.5. Simulation</a></li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li><a href="#orgd649256">2. Other analysis</a>
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||||
<ul>
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||||
<li><a href="#orgcc14bbe">2.1. Robustness to Payload Variability</a></li>
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||||
<li><a href="#org3c7ca09">2.1. Robustness to Payload Variability</a></li>
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||||
<li><a href="#org18b00fa">2.2. Direct HAC control in the task space - \(\bm{K}_\mathcal{X}\)</a>
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||||
<ul>
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||||
<li><a href="#org14729d2">2.2.1. Identification</a></li>
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||||
<li><a href="#org5fd28fd">2.2.1. Identification</a></li>
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||||
<li><a href="#org1387536">2.2.2. Obtained Plant in the Task Space</a></li>
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||||
<li><a href="#org50b9f75">2.2.3. Obtained Plant in the Joint Space</a></li>
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||||
<li><a href="#org19db2cd">2.2.4. Controller Design in the Joint Space</a></li>
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||||
@@ -311,7 +99,7 @@
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||||
</li>
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||||
<li><a href="#org5e26e70">2.3. On the usefulness of the High Authority Control loop / Linearization loop</a>
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||||
<ul>
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||||
<li><a href="#orga867ed3">2.3.1. Identification</a></li>
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||||
<li><a href="#org63f831b">2.3.1. Identification</a></li>
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||||
<li><a href="#orgfab8847">2.3.2. Plant in the Task space</a></li>
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||||
<li><a href="#org18aeea5">2.3.3. Plant in the Leg’s space</a></li>
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||||
</ul>
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||||
@@ -319,7 +107,7 @@
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||||
<li><a href="#org015f992">2.4. DVF instead of IFF?</a>
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||||
<ul>
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||||
<li><a href="#org17cfb9d">2.4.1. Initialization and Identification</a></li>
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||||
<li><a href="#org1144ed5">2.4.2. Obtained Plant</a></li>
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||||
<li><a href="#orgc3f6788">2.4.2. Obtained Plant</a></li>
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||||
<li><a href="#org51c8027">2.4.3. Controller</a></li>
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||||
<li><a href="#org33637f1">2.4.4. HAC Identification</a></li>
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||||
<li><a href="#orgec66083">2.4.5. Conclusion</a></li>
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||||
@@ -342,8 +130,8 @@
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</div>
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</div>
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<div id="outline-container-org6d5d6b2" class="outline-3">
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||||
<h3 id="org6d5d6b2"><span class="section-number-3">1.1</span> Initialization</h3>
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||||
<div id="outline-container-orgf283080" class="outline-3">
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||||
<h3 id="orgf283080"><span class="section-number-3">1.1</span> Initialization</h3>
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||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -416,8 +204,8 @@ Kiff = tf(zeros(6));
|
||||
<a id="org224edef"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orge9b2f08" class="outline-4">
|
||||
<h4 id="orge9b2f08"><span class="section-number-4">1.2.1</span> Identification</h4>
|
||||
<div id="outline-container-orgac9efbf" class="outline-4">
|
||||
<h4 id="orgac9efbf"><span class="section-number-4">1.2.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-1-2-1">
|
||||
<p>
|
||||
Let’s first identify the plant for the IFF controller.
|
||||
@@ -542,8 +330,8 @@ isstable(Gl)
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org45829b7" class="outline-4">
|
||||
<h4 id="org45829b7"><span class="section-number-4">1.3.2</span> Obtained Plant</h4>
|
||||
<div id="outline-container-org8d7c208" class="outline-4">
|
||||
<h4 id="org8d7c208"><span class="section-number-4">1.3.2</span> Obtained Plant</h4>
|
||||
<div class="outline-text-4" id="text-1-3-2">
|
||||
<p>
|
||||
The obtained dynamics is shown in Figure <a href="#orgd1818fd">5</a>.
|
||||
@@ -640,8 +428,8 @@ Gpl.OutputName = {<span class="org-string">'El1'</span>, <span class="org-strin
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org40a9335" class="outline-4">
|
||||
<h4 id="org40a9335"><span class="section-number-4">1.4.2</span> Obtained Plant</h4>
|
||||
<div id="outline-container-org6b17d02" class="outline-4">
|
||||
<h4 id="org6b17d02"><span class="section-number-4">1.4.2</span> Obtained Plant</h4>
|
||||
<div class="outline-text-4" id="text-1-4-2">
|
||||
|
||||
<div id="org8e042d5" class="figure">
|
||||
@@ -697,8 +485,8 @@ And now we include the Jacobian inside the controller.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0b05a3a" class="outline-3">
|
||||
<h3 id="org0b05a3a"><span class="section-number-3">1.5</span> Simulation</h3>
|
||||
<div id="outline-container-orga259533" class="outline-3">
|
||||
<h3 id="orga259533"><span class="section-number-3">1.5</span> Simulation</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<p>
|
||||
Let’s first save the 3 controllers for further analysis:
|
||||
@@ -734,8 +522,8 @@ save(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
<h3 id="org16024e0"><span class="section-number-3">1.6</span> Results</h3>
|
||||
<div class="outline-text-3" id="text-1-6">
|
||||
</div>
|
||||
<div id="outline-container-orge126fd7" class="outline-4">
|
||||
<h4 id="orge126fd7"><span class="section-number-4">1.6.1</span> Load the simulation results</h4>
|
||||
<div id="outline-container-orgf2436dc" class="outline-4">
|
||||
<h4 id="orgf2436dc"><span class="section-number-4">1.6.1</span> Load the simulation results</h4>
|
||||
<div class="outline-text-4" id="text-1-6-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
|
||||
@@ -757,8 +545,8 @@ load(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org83a367c" class="outline-4">
|
||||
<h4 id="org83a367c"><span class="section-number-4">1.6.3</span> Load the simulation results</h4>
|
||||
<div id="outline-container-org8e90e5a" class="outline-4">
|
||||
<h4 id="org8e90e5a"><span class="section-number-4">1.6.3</span> Load the simulation results</h4>
|
||||
<div class="outline-text-4" id="text-1-6-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">n_av = 4;
|
||||
@@ -805,8 +593,8 @@ Ts = t(2)<span class="org-type">-</span>t(1);
|
||||
<h3 id="org74d9dc7"><span class="section-number-3">1.7</span> Compliance of the nano-hexapod</h3>
|
||||
<div class="outline-text-3" id="text-1-7">
|
||||
</div>
|
||||
<div id="outline-container-orgbdd14c0" class="outline-4">
|
||||
<h4 id="orgbdd14c0"><span class="section-number-4">1.7.1</span> Identification</h4>
|
||||
<div id="outline-container-orgc6f70c3" class="outline-4">
|
||||
<h4 id="orgc6f70c3"><span class="section-number-4">1.7.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-1-7-1">
|
||||
<p>
|
||||
Let’s identify the Compliance of the NASS:
|
||||
@@ -942,12 +730,12 @@ Gc_pz.OutputName = {<span class="org-string">'Ex'</span>, <span class="org-strin
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org3652c0c" class="outline-3">
|
||||
<h3 id="org3652c0c"><span class="section-number-3">1.8</span> Robustness to Payload Variability</h3>
|
||||
<div id="outline-container-org36ac22b" class="outline-3">
|
||||
<h3 id="org36ac22b"><span class="section-number-3">1.8</span> Robustness to Payload Variability</h3>
|
||||
<div class="outline-text-3" id="text-1-8">
|
||||
</div>
|
||||
<div id="outline-container-orgecf0445" class="outline-4">
|
||||
<h4 id="orgecf0445"><span class="section-number-4">1.8.1</span> Initialization</h4>
|
||||
<div id="outline-container-orgcaec167" class="outline-4">
|
||||
<h4 id="orgcaec167"><span class="section-number-4">1.8.1</span> Initialization</h4>
|
||||
<div class="outline-text-4" id="text-1-8-1">
|
||||
<p>
|
||||
Let’s change the payload mass, and see if the controller design for a payload mass of 1 still gives good performance.
|
||||
@@ -1174,8 +962,8 @@ Kp = Kp<span class="org-type">.*</span>diag(1<span class="org-type">./</span>dia
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org049fbc5" class="outline-4">
|
||||
<h4 id="org049fbc5"><span class="section-number-4">1.8.5</span> Simulation</h4>
|
||||
<div id="outline-container-org9406388" class="outline-4">
|
||||
<h4 id="org9406388"><span class="section-number-4">1.8.5</span> Simulation</h4>
|
||||
<div class="outline-text-4" id="text-1-8-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
@@ -1210,8 +998,8 @@ save(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
<h2 id="orgd649256"><span class="section-number-2">2</span> Other analysis</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
</div>
|
||||
<div id="outline-container-orgcc14bbe" class="outline-3">
|
||||
<h3 id="orgcc14bbe"><span class="section-number-3">2.1</span> Robustness to Payload Variability</h3>
|
||||
<div id="outline-container-org3c7ca09" class="outline-3">
|
||||
<h3 id="org3c7ca09"><span class="section-number-3">2.1</span> Robustness to Payload Variability</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<ul class="org-ul">
|
||||
<li class="off"><code>[ ]</code> For 3/masses (1kg, 10kg, 50kg), plot each of the 3 plants</li>
|
||||
@@ -1230,8 +1018,8 @@ save(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org14729d2" class="outline-4">
|
||||
<h4 id="org14729d2"><span class="section-number-4">2.2.1</span> Identification</h4>
|
||||
<div id="outline-container-org5fd28fd" class="outline-4">
|
||||
<h4 id="org5fd28fd"><span class="section-number-4">2.2.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-2-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-iff'</span>);
|
||||
@@ -1346,8 +1134,8 @@ We can do that in two different ways:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga867ed3" class="outline-4">
|
||||
<h4 id="orga867ed3"><span class="section-number-4">2.3.1</span> Identification</h4>
|
||||
<div id="outline-container-org63f831b" class="outline-4">
|
||||
<h4 id="org63f831b"><span class="section-number-4">2.3.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-2-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-iff'</span>);
|
||||
@@ -1435,8 +1223,8 @@ G_dvf.OutputName = {<span class="org-string">'Dlm1'</span>, <span class="org-str
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1144ed5" class="outline-4">
|
||||
<h4 id="org1144ed5"><span class="section-number-4">2.4.2</span> Obtained Plant</h4>
|
||||
<div id="outline-container-orgc3f6788" class="outline-4">
|
||||
<h4 id="orgc3f6788"><span class="section-number-4">2.4.2</span> Obtained Plant</h4>
|
||||
</div>
|
||||
<div id="outline-container-org51c8027" class="outline-4">
|
||||
<h4 id="org51c8027"><span class="section-number-4">2.4.3</span> Controller</h4>
|
||||
@@ -1503,7 +1291,7 @@ DVF can be used instead of IFF.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-01 mer. 16:16</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user