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. 09:35 -->
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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>Simscape Uniaxial 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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var target = document.getElementById(id);
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if(null != target) {
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elem.cacheClassElem = elem.className;
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elem.cacheClassTarget = target.className;
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target.className = "code-highlighted";
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elem.className = "code-highlighted";
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}
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}
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function CodeHighlightOff(elem, id)
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{
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var target = document.getElementById(id);
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if(elem.cacheClassElem)
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elem.className = elem.cacheClassElem;
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if(elem.cacheClassTarget)
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target.className = elem.cacheClassTarget;
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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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tags: 'ams',
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macros: {bm: ["\\boldsymbol{#1}",1],}
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}
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||||
};
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</script>
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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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@@ -250,69 +38,69 @@
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<li><a href="#org227ba84">1. Simscape Model</a></li>
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<li><a href="#org6bfb35d">2. Undamped System</a>
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<ul>
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<li><a href="#org006e24f">2.1. Init</a></li>
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<li><a href="#org4fbbce9">2.2. Identification</a></li>
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<li><a href="#org49ca9ab">2.3. Sensitivity to Disturbances</a></li>
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<li><a href="#org346ebf3">2.4. Noise Budget</a></li>
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<li><a href="#org4609941">2.1. Init</a></li>
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<li><a href="#org294eb39">2.2. Identification</a></li>
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<li><a href="#org7a1cc07">2.3. Sensitivity to Disturbances</a></li>
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<li><a href="#orga53aea9">2.4. Noise Budget</a></li>
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<li><a href="#orgdb3535a">2.5. Plant</a></li>
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</ul>
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</li>
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<li><a href="#org33c3829">3. Integral Force Feedback</a>
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<li><a href="#org1cbdf7c">3. Integral Force Feedback</a>
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<ul>
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<li><a href="#org326d925">3.1. Control Design</a></li>
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<li><a href="#org86f3473">3.2. Identification</a></li>
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<li><a href="#org68c471e">3.3. Sensitivity to Disturbance</a></li>
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<li><a href="#org5edf015">3.4. Damped Plant</a></li>
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<li><a href="#orgfc93a1c">3.5. Conclusion</a></li>
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<li><a href="#org2eefec2">3.1. Control Design</a></li>
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<li><a href="#org1a0f43f">3.2. Identification</a></li>
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<li><a href="#orgc9a5688">3.3. Sensitivity to Disturbance</a></li>
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<li><a href="#org681a4b5">3.4. Damped Plant</a></li>
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<li><a href="#org7dff1b8">3.5. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org07ff58f">4. Relative Motion Control</a>
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<ul>
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<li><a href="#org5704583">4.1. Control Design</a></li>
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<li><a href="#orga436aa7">4.2. Identification</a></li>
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<li><a href="#org133268a">4.3. Sensitivity to Disturbance</a></li>
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<li><a href="#org2f974d4">4.4. Damped Plant</a></li>
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<li><a href="#orgfdbd543">4.5. Conclusion</a></li>
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<li><a href="#orgb8526dc">4.1. Control Design</a></li>
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||||
<li><a href="#org08507fd">4.2. Identification</a></li>
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||||
<li><a href="#org0f3fad3">4.3. Sensitivity to Disturbance</a></li>
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||||
<li><a href="#org652a3fa">4.4. Damped Plant</a></li>
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<li><a href="#orgae3868e">4.5. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#orgc9b3622">5. Direct Velocity Feedback</a>
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<ul>
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<li><a href="#org2050b01">5.1. Control Design</a></li>
|
||||
<li><a href="#orgc946d88">5.2. Identification</a></li>
|
||||
<li><a href="#orgde4b14e">5.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org640c7d9">5.4. Damped Plant</a></li>
|
||||
<li><a href="#org94e9d5f">5.5. Conclusion</a></li>
|
||||
<li><a href="#orgf39d565">5.1. Control Design</a></li>
|
||||
<li><a href="#org5546bc6">5.2. Identification</a></li>
|
||||
<li><a href="#orgd944a62">5.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org7dee42a">5.4. Damped Plant</a></li>
|
||||
<li><a href="#orgd0c02fb">5.5. Conclusion</a></li>
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||||
</ul>
|
||||
</li>
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||||
<li><a href="#org5ac7dda">6. With Cedrat Piezo-electric Actuators</a>
|
||||
<ul>
|
||||
<li><a href="#org1bfaed7">6.1. Identification</a></li>
|
||||
<li><a href="#orgf32651c">6.2. Control Design</a></li>
|
||||
<li><a href="#orgc7383cd">6.3. Identification</a></li>
|
||||
<li><a href="#org34de1fd">6.4. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org609c873">6.5. Damped Plant</a></li>
|
||||
<li><a href="#org3c4f6ff">6.6. Conclusion</a></li>
|
||||
<li><a href="#orgb02fbb6">6.1. Identification</a></li>
|
||||
<li><a href="#orge2bfe04">6.2. Control Design</a></li>
|
||||
<li><a href="#org53cc9c6">6.3. Identification</a></li>
|
||||
<li><a href="#orgd6515d0">6.4. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#orgc6d991d">6.5. Damped Plant</a></li>
|
||||
<li><a href="#org8c680f2">6.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org77a79e6">7. Comparison of Active Damping Techniques</a>
|
||||
<ul>
|
||||
<li><a href="#orgb0afe4f">7.1. Load the plants</a></li>
|
||||
<li><a href="#orge08556d">7.2. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#orgfff33b9">7.3. Noise Budget</a></li>
|
||||
<li><a href="#orgc582849">7.4. Damped Plant</a></li>
|
||||
<li><a href="#orgde3c3e7">7.5. Conclusion</a></li>
|
||||
<li><a href="#orgcb13f9e">7.2. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org5cadbe8">7.3. Noise Budget</a></li>
|
||||
<li><a href="#org8fede67">7.4. Damped Plant</a></li>
|
||||
<li><a href="#orgd8ddad5">7.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org15965e0">8. Voice Coil</a>
|
||||
<ul>
|
||||
<li><a href="#orge0ae68a">8.1. Init</a></li>
|
||||
<li><a href="#orgd0cdd7a">8.2. Identification</a></li>
|
||||
<li><a href="#orgea2fb03">8.3. Sensitivity to Disturbances</a></li>
|
||||
<li><a href="#org88de5a5">8.4. Noise Budget</a></li>
|
||||
<li><a href="#org241513b">8.5. Integral Force Feedback</a></li>
|
||||
<li><a href="#org33240ce">8.1. Init</a></li>
|
||||
<li><a href="#org1533141">8.2. Identification</a></li>
|
||||
<li><a href="#orgb814bd8">8.3. Sensitivity to Disturbances</a></li>
|
||||
<li><a href="#org790a719">8.4. Noise Budget</a></li>
|
||||
<li><a href="#orgfa698bd">8.5. Integral Force Feedback</a></li>
|
||||
<li><a href="#org2a655f7">8.6. Identification of the Damped Plant</a></li>
|
||||
<li><a href="#orgb7cef4c">8.7. Noise Budget</a></li>
|
||||
<li><a href="#orga9d9dce">8.8. Conclusion</a></li>
|
||||
<li><a href="#org1ecc3e1">8.7. Noise Budget</a></li>
|
||||
<li><a href="#org229e708">8.8. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -410,8 +198,8 @@ Schematics of the active damping techniques are displayed in figure <a href="#or
|
||||
Let’s start by study the undamped system.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org006e24f" class="outline-3">
|
||||
<h3 id="org006e24f"><span class="section-number-3">2.1</span> Init</h3>
|
||||
<div id="outline-container-org4609941" class="outline-3">
|
||||
<h3 id="org4609941"><span class="section-number-3">2.1</span> Init</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -423,8 +211,8 @@ All the controllers are set to 0 (Open Loop).
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org4fbbce9" class="outline-3">
|
||||
<h3 id="org4fbbce9"><span class="section-number-3">2.2</span> Identification</h3>
|
||||
<div id="outline-container-org294eb39" class="outline-3">
|
||||
<h3 id="org294eb39"><span class="section-number-3">2.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
We identify the dynamics of the system.
|
||||
@@ -487,8 +275,8 @@ Finally, we save the identified system dynamics for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org49ca9ab" class="outline-3">
|
||||
<h3 id="org49ca9ab"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
|
||||
<div id="outline-container-org7a1cc07" class="outline-3">
|
||||
<h3 id="org7a1cc07"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<p>
|
||||
We show several plots representing the sensitivity to disturbances:
|
||||
@@ -515,8 +303,8 @@ We show several plots representing the sensitivity to disturbances:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org346ebf3" class="outline-3">
|
||||
<h3 id="org346ebf3"><span class="section-number-3">2.4</span> Noise Budget</h3>
|
||||
<div id="outline-container-orga53aea9" class="outline-3">
|
||||
<h3 id="orga53aea9"><span class="section-number-3">2.4</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<p>
|
||||
We first load the measured PSD of the disturbance.
|
||||
@@ -575,8 +363,8 @@ It corresponds to the plant to control.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org33c3829" class="outline-2">
|
||||
<h2 id="org33c3829"><span class="section-number-2">3</span> Integral Force Feedback</h2>
|
||||
<div id="outline-container-org1cbdf7c" class="outline-2">
|
||||
<h2 id="org1cbdf7c"><span class="section-number-2">3</span> Integral Force Feedback</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="org37f1b7d"></a>
|
||||
@@ -588,8 +376,8 @@ It corresponds to the plant to control.
|
||||
<p><span class="figure-number">Figure 8: </span>Uniaxial IFF Control Schematic</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org326d925" class="outline-3">
|
||||
<h3 id="org326d925"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div id="outline-container-org2eefec2" class="outline-3">
|
||||
<h3 id="org2eefec2"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/uniaxial_plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||
@@ -624,8 +412,8 @@ The controller for each pair of actuator/sensor is:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org86f3473" class="outline-3">
|
||||
<h3 id="org86f3473"><span class="section-number-3">3.2</span> Identification</h3>
|
||||
<div id="outline-container-org1a0f43f" class="outline-3">
|
||||
<h3 id="org1a0f43f"><span class="section-number-3">3.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -708,8 +496,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org68c471e" class="outline-3">
|
||||
<h3 id="org68c471e"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgc9a5688" class="outline-3">
|
||||
<h3 id="orgc9a5688"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
|
||||
<div id="orge528565" class="figure">
|
||||
@@ -727,8 +515,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5edf015" class="outline-3">
|
||||
<h3 id="org5edf015"><span class="section-number-3">3.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org681a4b5" class="outline-3">
|
||||
<h3 id="org681a4b5"><span class="section-number-3">3.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
|
||||
<div id="org57280cb" class="figure">
|
||||
@@ -739,8 +527,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfc93a1c" class="outline-3">
|
||||
<h3 id="orgfc93a1c"><span class="section-number-3">3.5</span> Conclusion</h3>
|
||||
<div id="outline-container-org7dff1b8" class="outline-3">
|
||||
<h3 id="org7dff1b8"><span class="section-number-3">3.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -769,8 +557,8 @@ In the Relative Motion Control (RMC), a derivative feedback is applied between t
|
||||
<p><span class="figure-number">Figure 14: </span>Uniaxial RMC Control Schematic</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org5704583" class="outline-3">
|
||||
<h3 id="org5704583"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div id="outline-container-orgb8526dc" class="outline-3">
|
||||
<h3 id="orgb8526dc"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/uniaxial_plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||
@@ -806,8 +594,8 @@ A Low pass Filter is added to make the controller transfer function proper.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga436aa7" class="outline-3">
|
||||
<h3 id="orga436aa7"><span class="section-number-3">4.2</span> Identification</h3>
|
||||
<div id="outline-container-org08507fd" class="outline-3">
|
||||
<h3 id="org08507fd"><span class="section-number-3">4.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -891,8 +679,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org133268a" class="outline-3">
|
||||
<h3 id="org133268a"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-org0f3fad3" class="outline-3">
|
||||
<h3 id="org0f3fad3"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
|
||||
<div id="org9e0dde4" class="figure">
|
||||
@@ -910,8 +698,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2f974d4" class="outline-3">
|
||||
<h3 id="org2f974d4"><span class="section-number-3">4.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org652a3fa" class="outline-3">
|
||||
<h3 id="org652a3fa"><span class="section-number-3">4.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
|
||||
<div id="org18786e8" class="figure">
|
||||
@@ -922,8 +710,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfdbd543" class="outline-3">
|
||||
<h3 id="orgfdbd543"><span class="section-number-3">4.5</span> Conclusion</h3>
|
||||
<div id="outline-container-orgae3868e" class="outline-3">
|
||||
<h3 id="orgae3868e"><span class="section-number-3">4.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -952,8 +740,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
||||
<p><span class="figure-number">Figure 20: </span>Uniaxial DVF Control Schematic</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org2050b01" class="outline-3">
|
||||
<h3 id="org2050b01"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||
<div id="outline-container-orgf39d565" class="outline-3">
|
||||
<h3 id="orgf39d565"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/uniaxial_plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||
@@ -981,8 +769,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc946d88" class="outline-3">
|
||||
<h3 id="orgc946d88"><span class="section-number-3">5.2</span> Identification</h3>
|
||||
<div id="outline-container-org5546bc6" class="outline-3">
|
||||
<h3 id="org5546bc6"><span class="section-number-3">5.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1065,8 +853,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgde4b14e" class="outline-3">
|
||||
<h3 id="orgde4b14e"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgd944a62" class="outline-3">
|
||||
<h3 id="orgd944a62"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
|
||||
<div id="orgf9d4052" class="figure">
|
||||
@@ -1084,8 +872,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org640c7d9" class="outline-3">
|
||||
<h3 id="org640c7d9"><span class="section-number-3">5.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org7dee42a" class="outline-3">
|
||||
<h3 id="org7dee42a"><span class="section-number-3">5.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-5-4">
|
||||
|
||||
<div id="orgbc9c953" class="figure">
|
||||
@@ -1096,8 +884,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org94e9d5f" class="outline-3">
|
||||
<h3 id="org94e9d5f"><span class="section-number-3">5.5</span> Conclusion</h3>
|
||||
<div id="outline-container-orgd0c02fb" class="outline-3">
|
||||
<h3 id="orgd0c02fb"><span class="section-number-3">5.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-5-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1125,8 +913,8 @@ The model used for the Cedrat actuator is shown in figure <a href="#org83591fa">
|
||||
<p><span class="figure-number">Figure 26: </span>Schematic of the model used for the Cedrat Actuator</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org1bfaed7" class="outline-3">
|
||||
<h3 id="org1bfaed7"><span class="section-number-3">6.1</span> Identification</h3>
|
||||
<div id="outline-container-orgb02fbb6" class="outline-3">
|
||||
<h3 id="orgb02fbb6"><span class="section-number-3">6.1</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-6-1">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1214,8 +1002,8 @@ G.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-comm
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf32651c" class="outline-3">
|
||||
<h3 id="orgf32651c"><span class="section-number-3">6.2</span> Control Design</h3>
|
||||
<div id="outline-container-orge2bfe04" class="outline-3">
|
||||
<h3 id="orge2bfe04"><span class="section-number-3">6.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-6-2">
|
||||
<p>
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor.
|
||||
@@ -1245,8 +1033,8 @@ The controller for each pair of actuator/sensor is:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc7383cd" class="outline-3">
|
||||
<h3 id="orgc7383cd"><span class="section-number-3">6.3</span> Identification</h3>
|
||||
<div id="outline-container-org53cc9c6" class="outline-3">
|
||||
<h3 id="org53cc9c6"><span class="section-number-3">6.3</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-6-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1330,8 +1118,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org34de1fd" class="outline-3">
|
||||
<h3 id="org34de1fd"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgd6515d0" class="outline-3">
|
||||
<h3 id="orgd6515d0"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-6-4">
|
||||
|
||||
<div id="org90f5c2b" class="figure">
|
||||
@@ -1349,8 +1137,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org609c873" class="outline-3">
|
||||
<h3 id="org609c873"><span class="section-number-3">6.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-orgc6d991d" class="outline-3">
|
||||
<h3 id="orgc6d991d"><span class="section-number-3">6.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-6-5">
|
||||
|
||||
<div id="org0c4e61a" class="figure">
|
||||
@@ -1361,8 +1149,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3c4f6ff" class="outline-3">
|
||||
<h3 id="org3c4f6ff"><span class="section-number-3">6.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org8c680f2" class="outline-3">
|
||||
<h3 id="org8c680f2"><span class="section-number-3">6.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-6-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1391,8 +1179,8 @@ This gives similar results than with a classical force sensor.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge08556d" class="outline-3">
|
||||
<h3 id="orge08556d"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgcb13f9e" class="outline-3">
|
||||
<h3 id="orgcb13f9e"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-7-2">
|
||||
|
||||
<div id="org8c59440" class="figure">
|
||||
@@ -1425,8 +1213,8 @@ This gives similar results than with a classical force sensor.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfff33b9" class="outline-3">
|
||||
<h3 id="orgfff33b9"><span class="section-number-3">7.3</span> Noise Budget</h3>
|
||||
<div id="outline-container-org5cadbe8" class="outline-3">
|
||||
<h3 id="org5cadbe8"><span class="section-number-3">7.3</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-7-3">
|
||||
<p>
|
||||
We first load the measured PSD of the disturbance.
|
||||
@@ -1493,8 +1281,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc582849" class="outline-3">
|
||||
<h3 id="orgc582849"><span class="section-number-3">7.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org8fede67" class="outline-3">
|
||||
<h3 id="org8fede67"><span class="section-number-3">7.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-7-4">
|
||||
|
||||
<div id="orga0c1298" class="figure">
|
||||
@@ -1505,8 +1293,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgde3c3e7" class="outline-3">
|
||||
<h3 id="orgde3c3e7"><span class="section-number-3">7.5</span> Conclusion</h3>
|
||||
<div id="outline-container-orgd8ddad5" class="outline-3">
|
||||
<h3 id="orgd8ddad5"><span class="section-number-3">7.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-7-5">
|
||||
<table id="org46e95c2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
<caption class="t-above"><span class="table-number">Table 2:</span> Comparison of proposed active damping techniques</caption>
|
||||
@@ -1582,8 +1370,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
||||
<a id="orgf9e9d51"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orge0ae68a" class="outline-3">
|
||||
<h3 id="orge0ae68a"><span class="section-number-3">8.1</span> Init</h3>
|
||||
<div id="outline-container-org33240ce" class="outline-3">
|
||||
<h3 id="org33240ce"><span class="section-number-3">8.1</span> Init</h3>
|
||||
<div class="outline-text-3" id="text-8-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -1595,8 +1383,8 @@ All the controllers are set to 0 (Open Loop).
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orgd0cdd7a" class="outline-3">
|
||||
<h3 id="orgd0cdd7a"><span class="section-number-3">8.2</span> Identification</h3>
|
||||
<div id="outline-container-org1533141" class="outline-3">
|
||||
<h3 id="org1533141"><span class="section-number-3">8.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-8-2">
|
||||
<p>
|
||||
We identify the dynamics of the system.
|
||||
@@ -1659,8 +1447,8 @@ Finally, we save the identified system dynamics for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgea2fb03" class="outline-3">
|
||||
<h3 id="orgea2fb03"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
|
||||
<div id="outline-container-orgb814bd8" class="outline-3">
|
||||
<h3 id="orgb814bd8"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
|
||||
<div class="outline-text-3" id="text-8-3">
|
||||
<p>
|
||||
We load the dynamics when using a piezo-electric nano hexapod to compare the results.
|
||||
@@ -1694,8 +1482,8 @@ We show several plots representing the sensitivity to disturbances:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org88de5a5" class="outline-3">
|
||||
<h3 id="org88de5a5"><span class="section-number-3">8.4</span> Noise Budget</h3>
|
||||
<div id="outline-container-org790a719" class="outline-3">
|
||||
<h3 id="org790a719"><span class="section-number-3">8.4</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-8-4">
|
||||
<p>
|
||||
We first load the measured PSD of the disturbance.
|
||||
@@ -1744,8 +1532,8 @@ Thus, it may be desirable to use voice coil actuators.
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org241513b" class="outline-3">
|
||||
<h3 id="org241513b"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
|
||||
<div id="outline-container-orgfa698bd" class="outline-3">
|
||||
<h3 id="orgfa698bd"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
|
||||
<div class="outline-text-3" id="text-8-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">K_iff = <span class="org-type">-</span>20<span class="org-type">/</span>s;
|
||||
@@ -1840,8 +1628,8 @@ G_vc_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb7cef4c" class="outline-3">
|
||||
<h3 id="orgb7cef4c"><span class="section-number-3">8.7</span> Noise Budget</h3>
|
||||
<div id="outline-container-org1ecc3e1" class="outline-3">
|
||||
<h3 id="org1ecc3e1"><span class="section-number-3">8.7</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-8-7">
|
||||
<p>
|
||||
We compute the obtain PSD of the displacement \(D\) when using IFF.
|
||||
@@ -1855,8 +1643,8 @@ We compute the obtain PSD of the displacement \(D\) when using IFF.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga9d9dce" class="outline-3">
|
||||
<h3 id="orga9d9dce"><span class="section-number-3">8.8</span> Conclusion</h3>
|
||||
<div id="outline-container-org229e708" class="outline-3">
|
||||
<h3 id="org229e708"><span class="section-number-3">8.8</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-8-8">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1874,7 +1662,7 @@ Similarly, it would require much lower bandwidth to attain the same level of dis
|
||||
</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. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user