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Work on Control (HAC-LAC) + Models

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Thomas Dehaeze
2020-03-13 17:40:22 +01:00
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@@ -4,7 +4,7 @@
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<title>Tomography Experiment</title>
@@ -202,50 +202,28 @@
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<li><a href="#org03b2a76">1. Simscape Model</a></li>
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
<ul>
<li><a href="#org5778305">2.1. Simulation Setup</a></li>
<li><a href="#org3f73a44">2.2. Analysis</a></li>
<li><a href="#org67ff024">2.3. Conclusion</a></li>
<li><a href="#orgab2c05f">2.1. Simulation Setup</a></li>
<li><a href="#org7d6c417">2.2. Analysis</a></li>
<li><a href="#orgc8896a6">2.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
<ul>
<li><a href="#orgc064b4d">3.1. Simulation Setup</a></li>
<li><a href="#org35d72fe">3.2. Analysis</a></li>
<li><a href="#org1f14bc2">3.3. Conclusion</a></li>
<li><a href="#org89b64b9">3.1. Simulation Setup</a></li>
<li><a href="#orgd3d5cc3">3.2. Analysis</a></li>
<li><a href="#org744b6a3">3.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
<ul>
<li><a href="#org0fe7352">4.1. Simulation Setup</a></li>
<li><a href="#org3fda1a5">4.2. Analysis</a></li>
<li><a href="#org5042570">4.3. Conclusion</a></li>
<li><a href="#org3c7fe25">4.1. Simulation Setup</a></li>
<li><a href="#orgbf003b8">4.2. Analysis</a></li>
<li><a href="#org0577a39">4.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
<ul>
<li><a href="#org8a2f4a2">5.1. Simulation Setup</a></li>
<li><a href="#org55d191f">5.2. Analysis</a></li>
<li><a href="#orgae2c5b3">5.3. Conclusion</a></li>
<li><a href="#org06c656a">5.1. Simulation Setup</a></li>
<li><a href="#orgc5cbe68">5.2. Analysis</a></li>
<li><a href="#org6c038f1">5.3. Conclusion</a></li>
</ul>
</li>
</ul>
@@ -372,8 +350,8 @@ All stage is set to its zero position except the Spindle which is rotating at 60
<a id="org3effbb8"></a>
</p>
</div>
<div id="outline-container-org5778305" class="outline-3">
<h3 id="org5778305"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div id="outline-container-orgab2c05f" class="outline-3">
<h3 id="orgab2c05f"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-2-1">
<p>
And we initialize the disturbances to be equal to zero.
@@ -403,17 +381,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_align_no_dist = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>, <span class="org-string">'-append'</span>);
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org3f73a44" class="outline-3">
<h3 id="org3f73a44"><span class="section-number-3">2.2</span> Analysis</h3>
<div id="outline-container-org7d6c417" class="outline-3">
<h3 id="org7d6c417"><span class="section-number-3">2.2</span> Analysis</h3>
<div class="outline-text-3" id="text-2-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
t = tomo_align_no_dist.t;
MTr = tomo_align_no_dist.MTr;
</pre>
@@ -446,8 +424,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-org67ff024" class="outline-3">
<h3 id="org67ff024"><span class="section-number-3">2.3</span> Conclusion</h3>
<div id="outline-container-orgc8896a6" class="outline-3">
<h3 id="orgc8896a6"><span class="section-number-3">2.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-3">
<div class="important">
<p>
@@ -467,8 +445,8 @@ This residual error motion probably comes from a small misalignment somewhere.
<a id="org4e7f626"></a>
</p>
</div>
<div id="outline-container-orgc064b4d" class="outline-3">
<h3 id="orgc064b4d"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div id="outline-container-org89b64b9" class="outline-3">
<h3 id="org89b64b9"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We now activate the disturbances.
@@ -498,17 +476,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_align_dist = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'-append'</span>);
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org35d72fe" class="outline-3">
<h3 id="org35d72fe"><span class="section-number-3">3.2</span> Analysis</h3>
<div id="outline-container-orgd3d5cc3" class="outline-3">
<h3 id="orgd3d5cc3"><span class="section-number-3">3.2</span> Analysis</h3>
<div class="outline-text-3" id="text-3-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
t = tomo_align_dist.t;
MTr = tomo_align_dist.MTr;
</pre>
@@ -541,8 +519,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-org1f14bc2" class="outline-3">
<h3 id="org1f14bc2"><span class="section-number-3">3.3</span> Conclusion</h3>
<div id="outline-container-org744b6a3" class="outline-3">
<h3 id="org744b6a3"><span class="section-number-3">3.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-3">
<div class="important">
<p>
@@ -561,8 +539,8 @@ Error motion is what expected from the disturbance measurements.
<a id="orgb31e3fb"></a>
</p>
</div>
<div id="outline-container-org0fe7352" class="outline-3">
<h3 id="org0fe7352"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div id="outline-container-org3c7fe25" class="outline-3">
<h3 id="org3c7fe25"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-4-1">
<p>
We first set the wanted translation of the Micro Hexapod.
@@ -616,17 +594,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_not_align = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'-append'</span>);
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org3fda1a5" class="outline-3">
<h3 id="org3fda1a5"><span class="section-number-3">4.2</span> Analysis</h3>
<div id="outline-container-orgbf003b8" class="outline-3">
<h3 id="orgbf003b8"><span class="section-number-3">4.2</span> Analysis</h3>
<div class="outline-text-3" id="text-4-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_not_align'</span>);
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>);
t = tomo_not_align.t;
MTr = tomo_not_align.MTr;
</pre>
@@ -659,8 +637,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-org5042570" class="outline-3">
<h3 id="org5042570"><span class="section-number-3">4.3</span> Conclusion</h3>
<div id="outline-container-org0577a39" class="outline-3">
<h3 id="org0577a39"><span class="section-number-3">4.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-4-3">
<div class="important">
<p>
@@ -679,8 +657,8 @@ The main motions are translations in the X direction of the mobile platform (cor
<a id="org6aaeb53"></a>
</p>
</div>
<div id="outline-container-org8a2f4a2" class="outline-3">
<h3 id="org8a2f4a2"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div id="outline-container-org06c656a" class="outline-3">
<h3 id="org06c656a"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-5-1">
<p>
We set the reference path.
@@ -735,17 +713,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">ty_scan = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'ty_scan'</span>, <span class="org-string">'-append'</span>);
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org55d191f" class="outline-3">
<h3 id="org55d191f"><span class="section-number-3">5.2</span> Analysis</h3>
<div id="outline-container-orgc5cbe68" class="outline-3">
<h3 id="orgc5cbe68"><span class="section-number-3">5.2</span> Analysis</h3>
<div class="outline-text-3" id="text-5-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'ty_scan'</span>);
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan'</span>);
t = ty_scan.t;
MTr = ty_scan.MTr;
</pre>
@@ -778,8 +756,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-orgae2c5b3" class="outline-3">
<h3 id="orgae2c5b3"><span class="section-number-3">5.3</span> Conclusion</h3>
<div id="outline-container-org6c038f1" class="outline-3">
<h3 id="org6c038f1"><span class="section-number-3">5.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-5-3">
<div class="important">
<p>
@@ -794,7 +772,7 @@ In order to reduce the errors, we can make a smoother reference path for the tra
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-25 mar. 18:21</p>
<p class="date">Created: 2020-03-13 ven. 17:39</p>
</div>
</body>
</html>